TWI522848B - Pointer device and pointer positioning method thereof - Google Patents

Description

Hand-held pointing device and cursor positioning method thereof

The invention relates to a positioning method of a pointing device, and in particular to a cursor positioning method of a hand-held pointing device.

The hand-held pointing device can calculate the pointing coordinate of the hand-held pointing device by analyzing the position of the reference point in the sensed image area, and transmits the pointing point coordinate to the game host to perform related game operations, which has been Widely used in a variety of interactive remote control games, such as light gun games, baseball games and tennis games.

Conventionally, the distance between the image sensor mounted on the hand-held pointing device and the display screen and the angle of rotation of the hand-held pointing device when capturing the image affect the calculation of the pointing coordinate. Therefore, in order to increase the hand-feeling of the hand-held pointing device, the hand-held pointing device is generally equipped with a device for detecting the tilt angle at the same time, so as to timely detect the rotation angle of the hand-held pointing device, and calculate the pointing direction corresponding to the updated hand-held pointing device. The angle of inclination used by the coordinates. According to this, the relative movement relationship between the hand-held pointing device and the reference point can be accurately calculated to avoid misjudgment.

However, each time the hand-held pointing device updates the currently used tilt angle, the hand-held pointing device immediately controls the cursor movement based on the detected tilt angle and the calculated imaging position of the reference point in the image sensing region. As a result, a sudden jump of the cursor occurs on the screen of the display device, thereby reducing the user's operating feel and causing inconvenience to the user.

In view of the above, the present invention provides a cursor positioning method for a hand-held pointing device and a hand-held pointing device, which can actively update the amount of displacement between the front and the rear of the tilt angle according to the hand-held pointing device, and the handheld pointing device The resulting pointing coordinates are corrected to avoid jumping points.

The embodiment of the invention provides a cursor positioning method for a handheld pointing device, and the cursor positioning method comprises the following steps. First, when the hand-held pointing device updates the currently used first tilt angle to the second tilt angle, the first image frame of the reference point is captured. Secondly, the first pointing coordinate is calculated according to the imaging position of the reference point in the first image frame and the first tilt angle. Thereafter, the second pointing coordinate is calculated according to the imaging position of the reference point in the first image frame and the second tilt angle. Then, the second image frame of the reference point is captured to calculate the third pointing coordinate according to the imaging position of the reference point in the second image frame and the second tilt angle. Then, the cursor positioning is calculated according to the third pointing coordinate, the first pointing coordinate, and the second pointing coordinate to correspondingly generate the cursor parameter of the control cursor located on the display device.

Another embodiment of the present invention provides a cursor positioning method for a handheld pointing device. The cursor positioning method includes the following steps. First, when the hand-held pointing device updates the currently used first tilt angle to the second tilt angle, the first image frame of the reference point is captured. Next, the difference in angle between the first tilt angle and the second tilt angle is calculated. Thereafter, when the calculated angle difference is greater than a predetermined angle, the first pointing coordinate is calculated according to the imaging position of the reference point in the first image frame and the first tilt angle. Then, the second pointing coordinate is calculated according to the imaging position of the reference point in the first image frame and the second tilt angle, and correspondingly generates a first offset vector between the first pointing coordinate and the second pointing coordinate. Then, when the hand-held pointing device is moved, the positioning calculation of the cursor is performed according to the calculated first offset vector and the pointing coordinates of the hand-held pointing device movement calculation. Subsequently, a cursor parameter that controls the movement of the cursor is generated correspondingly according to the calculation result.

Another embodiment of the present invention provides a cursor positioning method for a handheld pointing device, the cursor positioning method comprising the following steps. First, make the handheld pointing device In the first time, the first tilt angle currently used is updated to be the second tilt angle. Secondly, the handheld pointing device calculates the first pointing coordinate and the second pointing coordinate of the imaging position corresponding to the reference point in the first image frame by using the first tilt angle and the second tilt angle respectively at the first time. Thereafter, at a second time, a third directional coordinate corresponding to the imaging position of the second image frame is calculated using the second tilt angle, wherein the second time is after the first time. Then, according to the third pointing coordinate, the first pointing coordinate, and the second pointing coordinate, the cursor positioning is calculated to correspondingly generate the cursor parameter of the control cursor located on the display device.

The embodiment of the invention further provides a hand-held pointing device, which comprises an image capturing unit, an acceleration unit and a processing unit. The image capturing unit is configured to sequentially capture multiple image frames of the reference point. The acceleration unit is configured to sense a plurality of acceleration values of the handheld pointing device in multiple axes, and correspondingly generate an acceleration vector. The processing unit is coupled to the image capturing unit and the acceleration unit. The processing unit is configured to calculate the cursor positioning according to the imaging position of the reference frame at the imaging position of the reference frame and the first tilt angle currently used.

When the handheld pointing device calculates and updates the currently used first tilt angle as a second tilt angle according to the acceleration values, the processing unit drives the image capturing unit to capture the first image frame of the reference point, and utilizes the first The tilt angle and the second tilt angle calculate a first pointing coordinate and a second pointing coordinate of the corresponding reference point. Then, the processing unit drives the image capturing unit to capture the second image frame of the reference point, and correspondingly according to the imaging position, the first pointing coordinate, the second pointing coordinate, and the second tilting angle of the reference point in the second image frame. A cursor parameter that controls the cursor at the display device is generated.

In addition, an embodiment of the present invention further provides a computer readable medium recording a set of computer executable programs. When the computer readable recording medium is read by the processor, the processor may perform the steps in the cursor positioning method.

In summary, the embodiment of the present invention provides a handheld pointing device and a cursor positioning method of the handheld pointing device, and the handheld pointing device and the cursor are fixed The bit method is suitable for controlling the movement operation of a display device upstream target. The cursor positioning method can actively correct the pointing coordinates calculated by using the updated tilt angle when the cursor positioning is calculated after the handheld pointing device updates the tilt angle, so that the cursor is updated by the predetermined correction time or the number of corrections. The tilting angle calculation of the pointing coordinates gradually moves to the actual pointing position of the current handheld pointing device. Therefore, the occurrence of the cursor jump point can be effectively avoided, and the convenience and stability of the user operation can be improved.

The detailed description of the present invention and the accompanying drawings are to be understood by the claims The scope is subject to any restrictions.

10‧‧‧Handheld pointing device

11‧‧‧Image capture unit

12‧‧‧Acceleration unit

13‧‧‧Processing unit

14‧‧‧ Input unit

15‧‧‧ storage unit

16‧‧‧Communication unit

20‧‧‧ display device

21‧‧‧ Reference point

23, 23a~23d, 25a, 33a~33N, 35a‧‧ ́s cursor

X, Y, Z‧‧‧ axial

‧‧‧Offset vector

(x1, y1), (x2, y2), (x3, y3) ‧ ‧ pointing coordinates

, , ‧‧‧pointing coordinates

d, d1, d2, d3‧‧‧ distance

F1, F2‧‧‧ image frame

111, 111a, 111b‧‧‧Operating range

Center point of the operating range of 1111, 1111a, 1111b‧‧

113, 113a, 113b‧‧‧ reference point image

TA, TB, TC, TD‧‧‧ time points

S301~S317‧‧‧Step procedure

S601~S621‧‧‧Step procedure

S801~S817‧‧‧Step procedure

S901~S919‧‧‧Step procedure

FIG. 1 is a schematic diagram of a handheld pointing device according to an embodiment of the present invention applied to an interactive system.

2 is a functional block diagram of a handheld pointing device according to an embodiment of the present invention.

FIG. 3 is a schematic flow chart of a cursor positioning method of a handheld pointing device according to an embodiment of the present invention.

4A-4B are schematic diagrams showing positions of reference points sensed when the hand-held pointing device is moved according to an embodiment of the present invention.

FIG. 4C is a schematic diagram showing the position change of the reference point calculated by the hand-held pointing device according to the embodiment of the present invention at different tilt angles.

FIG. 4D is a schematic diagram showing the relative relationship between the position of the reference point and the position of the cursor on the display device screen according to the embodiment of the present invention.

FIG. 5 is a schematic diagram of a position change of a cursor on a display device screen according to an embodiment of the present invention.

FIG. 6 is a schematic flowchart of a cursor positioning correction method of a handheld pointing device according to an embodiment of the present invention.

FIG. 7 is a schematic diagram of a position change of a mobile cursor of a handheld pointing device on a display device screen according to an embodiment of the present invention.

FIG. 8 is a schematic flow chart of a method for positioning a cursor of a handheld pointing device according to another embodiment of the present invention.

FIG. 9 is a schematic flow chart of a method for positioning a cursor of a handheld pointing device according to still another embodiment of the present invention.

In the following, the invention will be described in detail by way of illustration of various exemplary embodiments of the invention. However, the inventive concept may be embodied in many different forms and should not be construed as being limited to the illustrative embodiments set forth herein. In addition, the same reference numerals may be used in the drawings to represent similar elements.

[Embodiment of Handheld Pointing Device]

The hand-held pointing device of the present invention can be applied to cursor positioning on a display device. Please refer to FIG. 1 . FIG. 1 is a schematic diagram of a handheld pointing device according to an embodiment of the present invention applied to an interactive system. The interactive system includes a handheld pointing device 10 and a display device 20. The display device 20 is further provided with a reference point 21 for the hand-held pointing device 10 to act as a basis for manipulating the upstream label 23 of the display device 20.

In the present embodiment, the display device 20 has a software and hardware architecture that can execute and display software programs. Display device 20 can be, for example but not limited to, a projection display device, a gaming machine display screen, a television screen, and a computer display screen. However, in practice, the interactive system may further include a host (not shown) according to actual application requirements, such as a game console or a computer host. The host can be used to read and execute software programs such as game software such as light gun games, baseball games, and tennis games. The host can display the execution status of the software program on the display device 20 for the user to browse and control.

The reference point 21 is disposed in the vicinity of the display device 20, and is used for the handheld pointing device 10 to determine the pointing position of the handheld pointing device 10, thereby determining the moving direction and the moving amount of the handheld pointing device 10 relative to the reference point 21. .

The reference point 21 can be realized by a plurality of light-emitting diodes having a specific wavelength, such as an infrared light-emitting diode (IR LED), a laser diode or an ultraviolet light-emitting diode, arranged in reference points of various shapes. In addition, the light-emitting diodes may be electrically connected to the display device 20 to obtain the power required for illumination, or may be supplied by an independent power source to supply the light. In addition, in this embodiment, only one reference point is used, but the number of reference points 21 can be set by the general knowledge in the field of the invention, for example, one, two or plural. That is, FIG. 1 is only used to illustrate the operation of the handheld pointing device 10 and is not intended to limit the present invention.

When the handheld pointing device 10 is pointed to the reference point 21, the image capturing unit 11 is driven to sequentially capture a plurality of image frames corresponding to the reference point 21. The handheld pointing device 10 calculates the pointing coordinates of the handheld pointing device 10 pointing to the display device 20 based on the imaging position of the reference point 21 at one of the image frames and the tilt angle currently used by the hand-held pointing device 10. Next, the hand-held pointing device 10 calculates the cursor positioning of the upstream label 23 of the screen of the display device 20 in accordance with the pointing coordinates. The hand-held pointing device 10 and wirelessly transmits the cursor parameters of the control cursor generated according to the change in the position of the reference point 21 to the display device 20. Accordingly, the hand-held pointing device 10 can control the appearance position of the upstream label 23 of the screen of the display device 20.

In this embodiment, the handheld pointing device 10 can change the imaging position of the image frames according to the reference point 21 to determine whether to update the first tilt angle currently used by the handheld pointing device 10 (ie, handheld pointing). The angle of rotation of the device 10 is a second angle of inclination. In an embodiment, the handheld pointing device 10 can determine whether the handheld pointing device 10 is currently in a stationary or moving state according to whether the imaging position of the image frames is greatly moved according to the reference point 21, thereby determining whether to update. The hand-held pointing device 10 currently calculates the tilt angle used. In another embodiment, the handheld pointing device 10 can also determine whether the pointing pointing device 10 is currently calculated according to the imaging position of the image frames and the first tilt angle of the reference point 21 It is in a stationary or moving state to determine whether to update the tilt angle currently used by the handheld pointing device 10.

In particular, the large movement in the present invention refers to the reference point 21 or the calculated pointing coordinate in an instant (ie, a short time, such as a few seconds, a few milliseconds, two or more consecutive image frames) Inside) changes in movement. That is, the displacement amount (ie, the displacement change value) of the reference point 21 at the imaging position of the continuous image frames, the moving speed or the acceleration, or the displacement amount and the displacement speed of the pointing coordinates calculated according to the continuous image frames. Or acceleration, etc.

In one embodiment, the handheld pointing device 10 can use an inertial sensor to calculate the tilt angle of the handheld pointing device 10. However, when the user moves the hand-held pointing device 10, the user's application of the hand-held pointing device 10 affects the result of the inertial sensor determining the direction of gravity. Therefore, the tilt angle of the hand-held pointing device 10 must be accurately calculated and updated after the influence of the user's force is excluded. That is, when the hand-held pointing device 10 is not largely moved by the user (ie, the reference point 21 is detected not to move significantly), it can be considered that the hand-held pointing device 10 is not affected by an external force, thereby accurately sensing The current angle of rotation of the hand-held pointing device 10 is measured and calculated to update the hand-held pointing device 10 to now use the first tilt angle as the second tilt angle.

When the hand-held pointing device 10 determines to update the first tilt angle currently used to be the second tilt angle, the hand-held pointing device 10 captures the first image frame corresponding to the reference point 21. The hand-held pointing device 10 calculates the first pointing coordinate based on the first tilt angle currently used and the imaging position of the reference point 21 in the first image frame. The hand-held pointing device 10 calculates the cursor position based on the first pointing coordinate to correspondingly generate the cursor parameters of the control cursor 23 at the display device 20.

At the same time, the hand-held pointing device 10 calculates the second pointing coordinate according to the second tilt angle currently used and the imaging position of the reference point 21 in the first image frame. Then, when the handheld pointing device 10 calculates the third pointing coordinate according to the imaging position of the reference point 21 in the second image frame and the second tilt angle, the hand-held pointing device 10 according to the first pointing coordinate and the second pointing coordinate The difference between the offset differences (that is, the offset of the cursor 23) determines whether the third finger calculated for the subsequent cursor positioning Correction compensation is performed to the coordinates.

When the hand-held pointing device 10 determines that the offset difference between the first pointing coordinate and the second pointing coordinate is greater than or equal to a first preset offset threshold, the handheld pointing device 10 corrects the third pointing coordinate. make up. The handheld pointing device 10 simultaneously calculates the cursor positioning according to the third pointing coordinate, the first pointing coordinate, and the second pointing coordinate to correspondingly generate a cursor parameter of the control cursor 23 at the display device 20. When the handheld pointing device 10 determines that the offset difference between the first pointing coordinate and the second pointing coordinate is less than the first preset offset threshold, the handheld pointing device 10 directly calculates the cursor positioning according to the third pointing coordinate. Correspondingly, the cursor parameters of the control cursor 23 located on the display device 20 are generated.

Accordingly, in the case where the hand-held pointing device 10 updates the tilt angle, the occurrence of a jump point affects the user's operation feeling.

In addition, the hand-held pointing device 10 can also determine whether to correct the compensation of the pointing coordinates calculated by the updated tilt angle according to the difference in the angle between the currently used first tilt angle and the updated second tilt angle.

For example, when the difference in angle between the currently used first tilt angle and the updated second tilt angle calculation is greater than a predetermined angle, the handheld pointing device 10 may determine to use the updated one for subsequent cursor positioning. The pointing coordinate (ie, the third pointing coordinate) calculated by the tilt angle is corrected for compensation.

Then, when the hand-held pointing device 10 determines that the pointing coordinates calculated after updating the first tilt angle to the second tilt angle are to be corrected, the hand-held pointing device 10 may adjust the number of times within a preset correction time. The correction cursor positioning is completed in the movement, and the cursor 23 is moved from the movement route corresponding to the first inclination angle to the movement route corresponding to the second inclination angle. Therefore, the upstream target 23 movement of the display device 20 can be controlled accurately according to the position of the handheld pointing device 10 relative to the display device 20, while avoiding the tilt angle update to generate a jump point affecting the user's operating feel.

It should be noted that the handheld pointing device 10 of the embodiment may further depend on the state of the software program executed by the display device 20 and the resolution of the display device 20. Decide whether to correct the compensation of the pointing coordinates calculated by the subsequent use of the updated tilt angle (for example, correspondingly setting the first preset offset threshold and the preset angle) and correcting the compensation mode (for example, each time the tilt angle is updated) The amount of compensation for the secondary correction and the preset correction time).

Specifically, the handheld pointing device 10 can store a plurality of sets of correction parameters in advance according to the resolution of the display device 20 and the type of the software program.

For example, if the type of the software program executed by the display device 20 requires precise control (for example, a motion picture screen), correspondingly setting a smaller first preset offset threshold and a smaller preset angle value, After the hand-held pointing device 10 updates the tilt angle, a calibration procedure for pointing to the coordinates is performed, thereby improving the directivity of the hand-held pointing device 10.

For another example, if the accuracy required for the type of the software program executed by the display device 20 is low (for example, a still image screen), the first preset offset threshold and/or the preset angle are set correspondingly. The numerical value is such that the hand-held pointing device 10 does not need to correct the pointing coordinate after updating the tilt angle, or performs the calibration procedure of the pointing coordinate when the tilt angle is not updated every time, thereby reducing the number of corrections, thereby reducing the hand-held The pointing device 10 calculates the computational complexity of the pointing coordinates each time.

Then, when the hand-held pointing device 10 is activated, the hand-held pointing device 10 can automatically connect with the display device 20 and acquire the type of the software program currently executed by the display device 20. The hand-held pointing device 10 determines whether it is necessary to perform correction compensation on the pointing coordinates calculated with the updated tilt angle and select appropriate correction parameters according to the type of the software program currently executed by the display device 20. Thereby, the utility and convenience of the hand-held pointing device 10 can be improved.

In more detail, please refer to FIG. 2 and refer to FIG. 1 at the same time. FIG. 2 is a functional block diagram of a handheld pointing device according to an embodiment of the present invention. The handheld pointing device 10 includes an image capturing unit 11, an acceleration unit 12, a processing unit 13, an input unit 14, a storage unit 15, and a communication unit 16. The image capturing unit 11, the acceleration unit 12, the input unit 14, the storage unit 15, and the communication unit 16 are respectively coupled Unit 13.

It is worth mentioning that in another embodiment, the acceleration unit 12 can be integrated with the image capturing unit 11 , and the acceleration unit 12 is coupled to the processing unit 13 in series via the image capturing unit 11 . That is, at least one of the image capturing unit 11, the acceleration unit 12, the input unit 14, the storage unit 15, and the communication unit 16 may be coupled to the processing unit 13 in series with another element in other embodiments.

The image capturing unit 11 is configured to capture an image frame corresponding to the position of the reference point 21 when the handheld pointing device 10 is pointed to the reference point 21, and sequentially generate a plurality of image frames. Specifically, the image capturing unit 11 senses the light generated by the reference point 21 according to a preset image sampling frequency (for example, 200 image frames per second), and sequentially generates a plurality of image frames having the reference point 21 image.

The image capturing unit 11 filters the light outside the specific light wave through a filter unit (not shown), so that the image capturing unit 11 senses only the light having the specific light wave emitted by the reference point 21.

In this embodiment, the image capturing unit 11 may be a charge-coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. Implementations, those having ordinary knowledge in the technical field can be designed according to actual use, and the embodiment is not limited herein.

The acceleration unit 12 is configured to sense a plurality of acceleration values of the hand-held pointing device 10 in multiple axial directions (eg, X-axis, Y-axis, and Z-axis, etc.), and generate an acceleration vector. The acceleration unit 12 of this embodiment may be, for example, a gravity sensor (G-sensor), an accelerometer (also called an accelerometer), and is built in the hand-held pointing device 10, of course in other embodiments. The acceleration unit 12 can also be implemented by means of an external module. The technical field of the present invention can be designed according to the actual use situation, and the embodiment is not limited thereto.

The processing unit 13 is configured to receive the image frames generated by the image capturing unit 11 and calculate the reference point 21 in one of the image frames according to one of the image frames. Imaging position. The processing unit 13 calculates according to the imaging position of the reference point 21 at one of the image frames and the first tilt angle currently used by the hand-held pointing device 10 to generate a pointing coordinate to the reference point. The processing unit 13 calculates the cursor positioning on the screen of the display device 20 according to the pointing coordinates of the reference point 21 to generate a cursor parameter that controls the cursor. Subsequently, the processing unit 13 transmits the cursor parameters to the display device 20 by the communication unit 16 via the wireless transmission method to cooperate with the software program (for example, game software) executed by the display device 20 to relatively control the motion of the cursor 23 on the display device 20.

More specifically, the processing unit 13 determines whether the reference point 21 is displaced according to the image frames, that is, whether the reference point 21 moves substantially. When the processing unit 13 determines that the reference point 21 has not moved significantly, the reading acceleration unit 12 senses the acceleration values generated by the hand-held pointing device 10 on multiple axes. The processing unit 13 calculates and updates the first tilt angle currently used by the hand-held pointing device 10 as the second tilt angle according to the acceleration values. Subsequently, the processing unit 13 calculates the pointing coordinates of the handheld pointing device 10 corresponding to the display device 20 by using the second tilt angle and the reference point 21 in the imaging position of one of the image frames to calculate the cursor positioning.

It is to be noted that, in an embodiment, the processing unit 13 can sense a plurality of acceleration values of the handheld pointing device 10 in the X-axis, the Y-axis, and the Z-axis according to the acceleration unit 12, and The angle between the axial directions is calculated, and the current rotation angle of the hand-held pointing device 10 is calculated to correspondingly update the first tilt angle currently used as the second tilt angle.

When the processing unit 13 determines that the reference point 21 has moved significantly, the processing unit 13 may decide not to update the first tilt angle currently used by the hand-held pointing device 10 by determining that the acceleration unit 12 cannot accurately measure the hand-held pointing device 10. The processing unit 13 will continue to calculate the pointing coordinates of the display device 20 corresponding to the handheld pointing device 10 by using the first tilt angle and the reference point 21 in the imaging position of one of the image frames. The processing unit 13 generates the cursor parameters of the control cursor 23 correspondingly according to the calculated pointing coordinates, and transmits to the display device 20 in a wireless transmission manner by using the communication unit 16.

The tilt angle of the hand-held pointing device 10, such as the first tilt angle and the second tilt angle, is further described below for the processing unit 13.

For example, the image frames corresponding to the position of the reference point 21 generated by the image capturing unit 11 may have a rectangular shape, and the long sides of the image frame are parallel to the X axis, and the short sides of the image frame are parallel to Y. Axial. When the processing unit 13 determines that the reference point 21 has not moved significantly, the processing unit 13 can drive the acceleration unit 12 to respectively sense the X-axis and the Y-axis of the handheld pointing device 10 in the three-dimensional space shown in FIG. Acceleration values Vx , Vy, and Vz in the Z and X directions. The acceleration unit 12 can generate an acceleration vector according to the sensing result To generate an acceleration sensing signal, wherein the acceleration sensing signal can represent a ratio of any two acceleration values, such as a ratio of the acceleration value Vx and the acceleration value Vy . The processing unit 13 calculates the current tilt angle of the hand-held pointing device 10 upon receiving the acceleration sensing signal.

In more detail, the processing unit 13 can calculate the acceleration vector of the hand-held pointing device 10 using the following formulas (1) to (3). An angle between each axial direction to obtain the current tilt angle of the hand-held pointing device 10,

Wherein, Vx represents the acceleration value sensed by the acceleration unit 12 in the X-axis; Vy represents the acceleration value sensed by the acceleration unit 12 in the Y-axis; | gxy | represents the gravity calculated from the acceleration value Vx and the acceleration value Vy Acceleration value.

The processing unit 13 corrects the image frame by using the calculation results of the formula (1) and the formula (2) and the formula (4) to make the coordinate system of the corrected image frame and the display device 20 The coordinate system is the same.

Where x represents the X-axis coordinate of the imaging point of the reference point 21 at one of the image frames; y represents the Y-axis coordinate of the reference point 21 at the imaging position of one of the image frames; x ' represents the corrected reference point 21 The X-axis coordinate of the imaging position of one of the image frames; y ' indicates the Y-axis coordinate of the corrected reference point 21 at the imaging position of one of the image frames. The processing unit 13 can in turn calculate the pointing coordinates of the hand-held pointing device 10 relative to the reference point 21 or the display device 20 from x 'and y '.

Next, the processing unit 13 may calculate the cursor position according to the calculated pointing coordinates to correspondingly generate the cursor parameters that control the upstream target 23 of the display device 20. Then, the processing unit 13 transmits the cursor parameters or relative motion vector information corresponding to the cursor 23 to the display device 20 by the communication unit 16 to control the motion of the cursor 23 on the display device 20.

It should be noted that the acceleration unit 12 used in the hand-held pointing device 10 of the present invention may also be used only to sense acceleration values of two dimensions, for example, only for sensing. Acceleration values Vx and Vx . In other words, the acceleration sensing method of the hand-held pointing device 10 is only an embodiment, and the invention is not limited thereto. In addition, calculating the pointing coordinates of the handheld pointing device 10 on the screen of the display device 20 according to the imaging position of the one or more reference points in the captured image is a prior art content, and is not a major improvement feature of the present invention. I will not repeat them here.

The input unit 14 is configured for the user of the handheld pointing device 10 to set the image sampling frequency and the correction parameters, such as the preset correction time, the number of corrections, and the correction amount of each cursor position. For example, the user may set the image sampling frequency of the reference point according to the preset correction time and set the number of corrections of the cursor according to the image sampling frequency. For another example, the user may determine the number of corrections of the cursor according to the preset image sampling frequency. The image sampling frequency may be a display device The screen update frequency of 20 is set.

In practice, the input unit 14 can be a keypad, an optical finger navigation device, or a button for initiating the display device 20 to display a setting interface for the user to set the preset calibration time. , image sampling frequency and / or the number of corrections of the cursor. If the handheld pointing device 10 has a handheld display screen (not shown), the preset display time, the image sampling frequency, and/or the number of corrections of the cursor may be displayed by the handheld display screen and each time the correction is performed. The amount of compensation. The handheld display screen can also be a touch screen.

The storage unit 15 can be used to store the first pointing coordinate, the second pointing coordinate, the third pointing coordinate, the first tilting angle, the second tilting angle, the first preset offset threshold, the preset angle, and the cursor parameter. The pointing device 10 operates on the required parameters. The storage unit 15 can also store the preset correction time, the image sampling frequency, and the number of corrections of the cursor according to the operation requirements of the handheld pointing device 10.

In this embodiment, the processing unit 13 may be implemented by using a code controller such as a microcontroller or an embedded controller, but the embodiment is not limited. The storage unit 15 can be implemented by using a volatile or non-volatile memory chip such as a flash memory chip, a read-only memory chip, or a random access memory chip, but the embodiment is not limited thereto. The communication unit 16 may transmit the motion vector information to the display device 20 by using a Bluetooth transmission method, but the embodiment is not limited thereto.

It should be noted that the internal components in the handheld pointing device 10 of the present embodiment may be added, removed, adjusted or replaced according to their functions and design requirements, and the present invention is not limited. In other words, the types, physical architectures, implementation manners, and/or connection manners of the image capturing unit 11, the acceleration unit 12, the processing unit 13, the input unit 14, the storage unit 15, and the communication unit 16 are based on the type of the handheld pointing device 10, The embodiment is not limited by the physical architecture, the implementation manner, and/or the operational requirements.

This embodiment further provides a cursor positioning method for the handheld pointing device 10 to update the tilt angle to more specifically explain the operation of the handheld pointing device 10. please Referring to Figure 3, reference is also made to Figures 1, 2 and 4A-4D. FIG. 3 is a schematic flow chart of a cursor positioning method of a handheld pointing device according to an embodiment of the present invention. 4A-4B are schematic diagrams showing positions of reference points sensed by the handheld pointing device according to an embodiment of the present invention. FIG. 4C is a schematic diagram showing the position change of the reference point calculated by the hand-held pointing device according to the embodiment of the present invention at different tilt angles. FIG. 4D is a schematic diagram showing the relative relationship between the position of the reference point and the position of the cursor on the display device screen according to the embodiment of the present invention.

In step S301, when the processing unit 13 of the hand-held pointing device 10 updates the currently used first tilt angle θ1 to the second tilt angle θ2, the first image frame F1 corresponding to the reference point 21 is captured.

In particular, the processing unit 13 may determine whether to update the handheld pointing device according to whether the image capturing unit 11 captures multiple images corresponding to the position of the reference point 21 and determines whether the reference point 21 has moved substantially in the continuous image frame. The first inclination angle θ1 used is the second inclination angle θ2.

The processing unit 13 may determine whether to update the first tilt angle θ1 used by the handheld pointing device 10 to the second tilt angle θ2 according to the plurality of image frames generated by the image capturing unit 11 capturing the image corresponding to the position of the reference point 21 . .

In one embodiment, the processing unit 13 may calculate a displacement change generated by the imaging position of the reference point 21 in any two consecutive image frames captured by the handheld pointing device 10 by less than a preset displacement threshold (eg, 1). At the time of the pixel, the update currently uses the first tilt angle θ1 as the second tilt angle θ2. In still another embodiment, the processing unit 13 may calculate a speed change generated by the imaging position of the reference point 21 in any two consecutive image frames captured by the handheld pointing device by less than a preset speed threshold (eg, 1). At the time of pixel/unit time, the update currently uses the first tilt angle θ1 as the second tilt angle θ2. In still another embodiment, the processing unit 13 may also sense that an acceleration vector generated by the acceleration values of the handheld pointing device 10 in multiple axes is equal to one of the handheld pointing devices 10 . When the gravitational acceleration value (g) is updated, the first inclination angle θ1 is currently used as the second inclination angle. Degree θ2.

In other words, when the processing unit 13 determines that the reference point 21 has not moved significantly (ie, the hand-held pointing device 10 is currently in a stationary state), the active reading acceleration unit 12 senses the hand-held pointing device 10 in multiple axial directions ( For example, a plurality of acceleration values of the X-axis, the Y-axis, and the Z-axis are updated to use the first inclination angle θ1 as the second inclination angle θ2.

In step S303, the processing unit 13 calculates the first pointing coordinate according to the imaging position of the reference point 21 in the first image frame F1 and the first tilt angle θ1. . As shown in Figure 4A, the first pointing coordinate Representing the pointing position vector of the handheld pointing device 10 corresponding to the display device 20 in the captured first image frame F1, and the first pointing coordinate Is (x1, y1).

The processing unit 13 calculates the cursor position according to the first pointing coordinate, and correspondingly generates the cursor parameter of the control cursor 23 located on the display device 20. Subsequently, the processing unit 13 wirelessly transmits the cursor parameters to the display device 20 using the communication unit 16 to correspondingly control the position on the display device 20 of the cursor 23.

Incidentally, the first pointing coordinate The calculation is as follows. First, the processing unit 13 defines an operation corresponding to the display device 20 mapped in the first image frame F11 according to the imaging position of the center point "+" of the first image frame F1 and the reference point image 113 in the first image frame F1. Range 111. The operation range 111 corresponds to the display device 20 with a preset display ratio, and the operation range 111 is that the processing unit 13 uses the reference point image 113 as an origin and is defined in the first image frame F1 according to the preset display ratio. The processing unit 13 may further define a center point 1111 of the operating range 111 to utilize the center point 1111 of the operating range 111 as an origin and cooperate with the first tilt angle θ1 of the hand-held pointing device 10, using the above formula (1)~( 4) Calculate the pointing position vector of the center point "+" of the first image frame F1 in the operating range 111 to obtain the first pointing coordinate .

It is worth noting that the first pointing coordinate is obtained. When it is not necessary to define the center point 1111, the relative relationship between the center point "+" of the first image frame F1 and the imaging position of the reference point image 113 in the first image frame F1 or the reference point image 113 may be directly Imaging features, calculating a corresponding rotation angle, and then acquiring the first pointing coordinate .

The center point "+" is the center of the sensing array in the image capturing unit 11 in this embodiment. In other words, the first pointing coordinate The center of the sensing array in the image capturing unit 11 (ie, the center point "+") is indicated in the first image frame F1 corresponding to the pointing coordinate position of the coordinate system of the display device 20.

In step S305, the processing unit 13 calculates the second pointing coordinate according to the imaging position of the reference point 21 in the first image frame F1 and the second tilt angle θ2. .

As shown in FIG. 4B, the second pointing coordinate Representing the center point "+" of the sensing array in the image capturing unit 11 at the pointing position vector of the display device 20 mapped to the first image frame F1 operating range 111a, and the second pointing coordinate Is (x2, y2). Second pointing coordinate The processing unit 13 calculates the pointing position vector of the center point "+" of the first image frame F1 in the operating range 111a by using the center point 1111a of the operating range 111a as the origin and the second tilting angle θ2, wherein the operating range 111a is based on The reference point image 113a is defined.

The processing unit 13 can be based on the first pointing coordinate And the second pointing coordinate Calculate the first offset vector that points to the same image frame after updating the tilt angle , as shown in Figure 4C. Processing unit 13 will also first offset vector Stored in the storage unit 15.

In step S307, the second image frame F2 with the reference point 21 is taken to calculate the third pointing coordinate according to the imaging position of the reference point 21 in the second image frame F2 and the second tilt angle θ2. . The extraction time of the second image frame F2 is later than the extraction time of the first image frame F1. As shown in Figure 4D, the third pointing coordinate Representing the center point "+" of the sensing array in the image capturing unit 11 at the pointing position vector of the display device 20 mapped to the second image frame F2 operating range 111b, and the third pointing coordinate It is (x3, y3), wherein the operation range 111b is defined according to the reference point image 113b.

Subsequently, in step S309, the processing unit 13 determines whether the angle difference θd between the first tilt angle θ1 and the second tilt angle θ2 is smaller than a preset angle (for example, 20 degrees). When the processing unit 13 determines that the angle difference θd is smaller than the preset angle (for example, 20 degrees), step S313 is performed. On the other hand, when the processing unit 13 determines that the angle difference θd is greater than the preset angle (for example, 20 degrees), step S311 is performed.

In step S311, the processing unit 13 determines the first pointing coordinate And the second pointing coordinate First offset vector between Whether it is less than the first preset offset threshold (for example, 10 pixels). When the processing unit 13 determines the first offset vector When it is less than the first preset offset threshold (for example, 10 pixels), step S315 is performed. Conversely, when processing unit 13 determines the first offset vector When it is greater than the first preset offset threshold, step S313 is performed. The first preset offset threshold may be set according to a preset angle difference, for example, a pixel value corresponding to a 20 degree angle difference.

In step S313, the processing unit 13 is based on the third pointing coordinate. First pointing coordinate And the second pointing coordinate Calculate cursor positioning. Specifically, the processing unit 13 is based on the third pointing coordinate And the first offset vector Generate the compensated third pointing coordinate . Then, the processing unit 13 is based on the compensated third pointing coordinate Calculate cursor positioning to compensate for the first pointing coordinate With the second pointing coordinate The offset between.

Compensated third pointing coordinate The calculation formula (5) is as follows:

among them, Representing the compensated third pointing coordinate; Indicates a third pointing coordinate; Represents the first offset vector.

In step S315, the processing unit 13 directly according to the third pointing coordinate Calculate cursor positioning. In other words, when the processing unit 13 determines that the angle difference θd is smaller than the preset angle and the first offset vector When the first preset offset threshold is less than the first preset offset threshold, the processing unit 13 does not have the third pointing coordinate Compensate, but directly according to the third pointing coordinate Calculate cursor positioning.

Subsequently, in step S317, the processing unit 13 generates a cursor parameter that controls the movement of the cursor 23 according to the cursor positioning calculation result of step S313 or step S315. The processing unit 13 uses the communication unit 16 to wirelessly transmit the cursor parameters to the display device 20 to correspondingly control the movement of the cursor 23.

It is worth mentioning that the third pointing coordinate is shown in Figure 4D. Located in the operation range 111 of the first image frame F2, the display device 20 sets the display position of the cursor 23 on the screen according to the display ratio when receiving the cursor parameter. Therefore, when the handheld pointing device 10 drives the communication unit 16 to transmit the cursor parameter of the control cursor 23 and the preset display ratio to the display device 20, the display device 20 will be based on the current display ratio (ie, the resolution of the display device 20). The display position of the cursor 23 on the screen of the display device 20 is calculated. It will be apparent to those skilled in the art that the display device 20 calculates the position of the target 23 on the screen of the display device 20 based on the current display ratio and the cursor parameters, and thus will not be described herein.

Specifically, the reference point images 113, 113a, and 113b are respectively represented by a dot in FIGS. 4A to 4C, but the reference point images 113, 113a, and 113b may also be represented by a cross or an asterisk or the like. This embodiment is not limited. In addition, if the interactive system in FIG. 2 uses two or more reference points 21, the average coordinate between the positions of the reference point images in the image frame can be used as the reference in the embodiment in the image frame. The positions of the spots 113, 113a, and 113b. The processing unit 13 of the handheld pointing device 10 can calculate the ratio between the reference point image and the preset imaging distance parameter by using the imaging distance parameter to compensate for the positional positioning deviation caused by the difference in imaging distance. Those skilled in the art should know how to set the preset imaging parameters and the preset imaging distance parameters, and compensate the position calculation results of the reference point images 113, 113a and 113b by using the preset imaging parameters and the preset imaging distance parameters. I will not repeat this.

In order to more clearly illustrate the operation of the above-described cursor positioning method for the hand-held pointing device 10. Please refer to FIG. 5 and refer to FIG. 1 simultaneously. FIG. 5 illustrates an embodiment of the present invention. A schematic diagram of the position of the provided cursor on the display device screen.

The position of the cursor 23a is a pointing coordinate calculated by the hand-held pointing device 10 at the time point TA using the first tilt angle θ1. The position of the cursor 23b is a pointing coordinate calculated by the hand-held pointing device 10 at the time point TB using the first tilt angle θ1. The position of the cursor 23c is a pointing coordinate calculated by the hand-held pointing device 10 at the time point TC using the first tilt angle θ1. At the time point TC, the hand-held pointing device 10 simultaneously updates the first tilt angle θ1 to the second tilt angle θ2, and the first pointing coordinate calculated by the first tilt angle θ1 and the second tilt angle θ2, respectively. And the second pointing coordinate First offset vector . The cursor 23d is corresponding to the first offset vector recorded by the hand-held pointing device 10 after using the second tilt angle θ2 and updating the tilt angle at the time point TD. Calculated to produce a compensated third directional coordinate . The position of the cursor 25a corresponds to the pointing coordinate calculated by the hand-held pointing device 10 using the second tilt angle θ2. That is, after the hand-held pointing device 10 updates the tilt angle, if the calculated pointing coordinate is not compensated, the position of the cursor corresponds to the position of the cursor 25a on the display device 20. As shown in FIG. 5, if the calculated pointing coordinates are not compensated, the cursor 23c jumps to the position of the cursor 25a, which reduces the user's operating feel.

Therefore, in the process of calculating the cursor positioning by the method of the embodiment, the offset of the pointing coordinate calculated by updating the tilt angle is compensated according to the updated tilt angle, so that the cursor is moved by the position of the cursor 25a by a distance d to the cursor. The 23d position can effectively avoid jumping points.

In summary, the handheld pointing device 10 of the present embodiment can determine whether the pointing coordinate calculated by the second tilt angle θ2 needs to be compensated after the first tilt angle θ1 used for updating is the second tilt angle θ2 ( For example, whether the cursor jump condition is apparent on the display device 20 screen). When the hand-held pointing device 10 decides to compensate the pointing coordinates calculated by the second tilt angle θ2, the first tilt angle θ1 is the pointing coordinate of the subsequent calculation based on the difference in offset between the second tilt angles θ2.

In order to improve the user's operating feel and accurately control the movement of the cursor, this is the real The embodiment further provides a cursor positioning correction compensation method. The cursor positioning correction compensation method can smoothly move the cursor from the current path to the updated tilt angle within the preset correction time or the preset correction time, and then the path of the handheld pointing device 10 is actually moved to avoid the jump point. The situation and maintain directivity.

The details of the execution flow of the cursor positioning correction compensation method described above are further explained below. Referring to FIG. 6 and FIG. 7 together with FIG. 2, FIG. 6 is a schematic flowchart diagram of a cursor positioning correction method of a hand-held pointing device according to an embodiment of the present invention. FIG. 7 is a schematic diagram of a position change of a mobile cursor of a handheld pointing device on a display device screen according to an embodiment of the present invention.

In step S601, when the processing unit 13 updates the first tilt angle θ1 to the second tilt angle θ2, the processing unit 13 then starts the cursor correction program to cause the handheld pointing device 10 to enter the cursor correction mode.

In step S603, the processing unit 13 sets the preset correction times to N, the compensation vector to C, and the correction coordinates. . Correction coordinate The pointing coordinate to be compensated is, for example, a third pointing coordinate calculated according to the imaging position of the captured second image frame F2 and the second tilt angle θ2 according to a reference point (not shown). . The processing unit 13 will also set the number of corrections to N, the compensation vector to C, and the correction coordinates. Temporarily stored in the storage unit 15.

Processing unit 13 and determining the first offset vector Whether it is greater than the second preset offset threshold. If the processing unit 13 determines the first offset vector If it is greater than the second preset offset threshold, set N to the first offset vector Divided by C, where C is a preset compensation value; if processing unit 13 determines the first offset vector When it is less than the second preset offset threshold, then C is set as the first offset vector. Take N, where N is a preset number of corrections.

It should be noted that the second preset offset threshold and the first preset offset threshold may be set according to the actual operation requirements of the handheld pointing device 10 and the type of the software program executed by the display device 20. Same or different.

In short, when the first offset vector If the angle is greater than the second preset offset threshold, that is, the angle change is large and the required compensation vector is large, the processing unit 13 automatically selects to slowly correct the compensation pointing coordinate with a fixed compensation amount to avoid a jump point situation. Reduce the user's operating feel. When the first offset vector Less than the second preset offset threshold means that the angle change is small, and the processing unit 13 automatically selects to quickly correct the pointing coordinate within the preset number of corrections.

Then, when the processing unit 13 decides according to the first offset vector And N, to obtain C, the processing unit 13 can calculate C by the following formula:

Where C represents the compensation vector; Representing a first offset vector; Indicates the first pointing coordinate; Indicates the second pointing coordinate; N indicates the preset number of corrections, and is a preset fixed value. As shown in the formula (6), the larger N is, the smaller the compensation vector C is, and the smaller N is, the larger the compensation vector C is.

For example, the processing unit 13 may set N according to an image sampling frequency or a preset time input by the user through the operation interface provided by the input unit 14. In an embodiment, the user can set the cursor correction program in five image frames according to the image sampling frequency, for example, the processing unit 13 correspondingly sets N to 5 and according to N and the first offset vector. Calculate C. In another embodiment, the user can set, for example, a preset correction time of 5 seconds (even if the handheld pointing device 10 completes the cursor calibration procedure within 5 seconds) and the image sampling frequency is 5 image frames per second. The processing unit 13 correspondingly sets N to 25 and according to N and the first offset vector. Calculate C.

When the processing unit 13 decides according to the first offset vector And C, to obtain N, the processing unit 13 can calculate N by the following formula:

Where C represents a compensation vector and is a preset fixed value; Representing a first offset vector; Indicates the first pointing coordinate; Indicates the second pointing coordinate; N indicates the number of corrections. As shown in the formula (7), the larger the C, the smaller the number of corrections N will be; and the smaller the C, the larger the number of corrections N will be.

For example, the processing unit 13 may set C according to the resolution of the user inputting the display device 20 through the operation interface provided by the input unit 14. In one embodiment, the user can set only one degree at a time according to the resolution of the display device 20, wherein each degree is three pixel units, the processing unit 13 sets C to 3 and according to the first offset of C. vector Calculate N.

In addition, as described above, the user of the hand-held pointing device 10 may also set N and C through the input unit 14 according to the accuracy required by the type of the software program executed by the display device 20 or the resolution of the display device 20.

In step S605, the processing unit 13 determines whether the hand-held pointing device 10 needs to update the second tilt angle θ2 to the third tilt angle θ3. When the processing unit 13 determines whether the hand-held pointing device 10 needs to update the second tilt angle θ2 to the third tilt angle θ3, step S607 is performed. On the contrary, when the processing unit 13 determines that the hand-held pointing device 10 does not update the second tilt angle θ2 to the third tilt angle θ3 (that is, the hand-held pointing device 10 still maintains the current rotation angle or the hand-held pointing device 10 continues to move When it is, then step S611 is performed.

In step S607, the processing unit 13 calculates a second offset vector generated by the current rotation of the handheld pointing device 10. . In detail, the processing unit 13 may first capture the third image frame F3. The processing unit 13 calculates the fourth pointing coordinate according to the second tilt angle θ2 and the third tilt angle θ3 and the imaging position of the reference point 21 in the third image frame F3, respectively. And fifth pointing coordinates . The processing unit 13 is further based on the fourth pointing coordinate And fifth pointing coordinates , calculate the second offset vector . The extraction time of the third image frame F3 is later than the extraction time of the second image frame F2.

In other words, the processing unit 13 actively determines whether the hand-held pointing device 10 is rotated by the user again to generate a new tilt angle during the correction process, so as to simultaneously update the offset generated by the third tilt angle θ3 according to the second tilt angle θ2. Correcting the position of the cursor to improve the directivity of the hand-held pointing device 10 while also avoiding Jump point situation.

In step S609, when the processing unit 13 determines that the tilt angle has been updated again, the processing unit 13 calculates the corrected coordinates. Second offset vector The sum with C to produce a compensated pointing coordinate, such as the compensated third pointing coordinate . The compensated pointing coordinate The calculation is as follows:

among them, Indicates the pointed coordinates after compensation; Represents a corrected coordinate; C represents a compensation vector; Indicates the first pointing coordinate; Representing the second pointing coordinate; Indicates a third pointing coordinate; Representing the fourth pointing coordinate; Indicates the fifth pointing coordinate; N indicates the number of corrections.

In step S611, when the processing unit 13 determines that the tilt angle is not updated again, the processing unit 13 calculates the corrected coordinates. The sum with C to produce the compensated pointing coordinates , for example, the compensated third pointing coordinate . Compensated pointing coordinates The calculation is as follows:

among them, Indicates the pointed coordinates after compensation; Represents a corrected coordinate; C represents a compensation vector; Indicates the first pointing coordinate; Representing the second pointing coordinate; Indicates the third pointing coordinate; N indicates the number of corrections.

In step S613, the processing unit 13 is based on the compensated pointing coordinates. The cursor parameters corresponding to the control cursor located on the display device 20 are correspondingly generated and output. The processing unit 13 outputs the cursor parameters such that the upstream position of the display device 20 (the position of the cursor 33a in Fig. 7) corresponds to the flat moving distance d1 (the position of the cursor 33b in Fig. 7). The position of the cursor 33a corresponds to the pointing coordinate calculated by the hand-held pointing device 10 using the first tilt angle θ1. The position of the cursor 35a corresponds to the pointing coordinate calculated by the hand-held pointing device 10 using the second tilt angle θ2.

Meanwhile, in step S615, the processing unit 13 resets the correction coordinates. a new pointing coordinate, such as a sixth pointing coordinate, wherein the sixth pointing coordinate is an imaging position according to the reference point 21 in the captured fourth image frame F4 and a second tilt angle θ2 or a third tilt angle θ3 (if handheld The pointing device 10 has updated the second tilt angle θ2 to be calculated as the third tilt angle θ3). In step S617, the processing unit 13 executes N-1 (i.e., the number of decrement corrections). Processing unit 13 and setting the corrected coordinates And the decremented N is stored in the storage unit 15. The processing unit 13 then determines in step S619 whether N is equal to zero, i.e., determines whether the cursor correction procedure is completed.

If the processing unit 13 determines that N is equal to zero, that is, when the cursor correction procedure is completed, step S621 is performed. On the other hand, if the processing unit 13 judges that N is not equal to zero, that is, when the cursor correction procedure has not been completed, the processing unit 13 returns to step S605. That is, the handheld pointing device 10 retrieves the fifth image frame F5 and calculates the relative position of the hand-held pointing device 10 according to the imaging position of the reference point 21 in the fifth image frame F5 and the second tilt angle θ2 or the third tilt angle θ3. At the seventh pointing coordinate of the reference point 21, the seventh pointing coordinate is a corrected coordinate, and the compensated pointing coordinate is calculated according to the corrected coordinate and C, so that the upstream position of the display device 20 is continuously shifted by the position of the cursor 33b in FIG. D2 until moved to the position of the cursor 33c.

Then, the processing unit 13 re-executes steps S605-S619, sequentially captures N-2 image frames (not shown), and continues to compensate for subsequent pointing coordinates, and calculates the cursor according to the compensated pointing coordinates. Positioning, and so on, until N is equal to zero.

When the processing unit 13 completes the cursor calibration procedure, the cursor will be as shown in FIG. 7 and corresponding to the first pointing coordinate on the screen of the display device 20. The position (such as the position of the cursor 33a) is moved N times to reach the current pointing position of the corresponding handheld pointing device 10. In other words, the cursor will be on the display device 20 screen by the corresponding first pointing coordinate The position (such as the position of the cursor 33a) translates the distances d1, d2, d3, ..., dN to the pointing position of the hand-held pointing device 10 after the Nth image frame pointing to the reference point, such as the position of the cursor 33N.

Then, in step S621, the processing unit 13 directly calculates the cursor positioning according to the imaging position of the reference point 21 in the captured image frame and the currently used tilt angle in the subsequent movement, thereby improving the accuracy of the cursor control.

It is worth mentioning that, in the cursor calibration process, if the hand-held pointing device 10 continuously updates the tilt angle, the processing unit 13 adjusts the correction compensation amount, that is, C, in an accumulated manner, thereby maintaining the hand-held pointing device 10. Directivity. The processing unit 13 may also actively generate an offset vector according to the angular difference between the updated tilt angle and the pre-update tilt angle and/or the updated tilt angle, and determine whether to add the offset vector to the coordinate calculation of the pointing coordinate.

In addition, the processing unit 13 can also communicate with the display device 20 through the communication unit 16 during operation to obtain information about the execution of the software program by the display device 20, such as the type and status of the software program, the screen update frequency, and the display device 20 executing the The resolution required by the software program, etc. The processing unit 13 can determine whether the cursor correction program needs to be performed and the setting of the correction parameters in the cursor correction program according to the acquired information. The correction parameters include a preset offset threshold (such as a first preset offset valve and a second preset offset threshold), a preset angle, a number of corrections, a correction time, and a compensation amount for each correction.

In practice, the code corresponding to the cursor positioning method of FIG. 3 and the cursor positioning correction calculation method of FIG. 6 can be designed on the microcontroller or the embedded controller to perform the cursor positioning of FIG. 3 when the processing unit 13 operates. The method and the cursor correction calculation method of FIG. 6 are not limited in this embodiment.

It should be noted that FIG. 3 is only used to describe a cursor positioning method of the handheld pointing device 10, and thus FIG. 3 is not intended to limit the present invention. Similarly, FIG. 6 is only used to describe a specific manner of the cursor positioning correction mode of the handheld pointing device 10, and is not intended to limit the present invention. 4A to 4D are only used to illustrate the relationship between the pointing coordinates of the handheld pointing device 10 and the operating range of the corresponding display device 20 and the center point "+" of the sensing array in the image capturing unit 11, not for Limit the invention. 5 and FIG. 7 are only used to illustrate the handheld pointing device 10 in conjunction with FIGS. 3 and 6, respectively. The mode of operation and the calculation method of the cursor positioning correction are not intended to limit the present invention.

[Another embodiment of the cursor positioning method of the hand-held pointing device]

According to the above embodiment, the present invention can further generalize a cursor positioning method, which can apply a hand-held pointing device suitable for use in the interactive system of the above embodiment. Referring to FIG. 8 and FIG. 2 simultaneously, FIG. 8 is a schematic flow chart of a method for positioning a cursor of a handheld pointing device according to another embodiment of the present invention. The cursor positioning method of FIG. 8 can be implemented in a firmware programming manner and executed by the processing unit 13 of the handheld pointing device 10.

First, in step S801, the processing unit 13 of the hand-held pointing device 10 determines whether to update the currently used first tilt angle as the second tilt angle. When the processing unit 13 determines that the first tilt angle currently used for the update is the second tilt angle, step S803 is performed. On the other hand, when the processing unit 13 determines not to update the currently used first tilt angle to the second tilt angle, it returns to step S801.

The handheld pointing device 10 can capture a plurality of image frames sequentially generated by the plurality of images corresponding to the reference point 21 according to the image capturing unit 11 to determine whether the reference point 21 has greatly moved in the image frames. The hand-held pointing device 10 determines that the reference point 21 has not moved significantly (for example, the hand-held pointing device 10 is in a static state) to determine that the first tilt angle currently used is updated to be the second tilt angle.

It should be noted that in other embodiments, the hand-held pointing device 10 can also determine whether to update the currently used first tilt angle to the second tilt angle by determining whether the pointing coordinate calculated according to the reference point 21 is greatly moved. For example, when the hand-held pointing device 10 judges that the pointing coordinate calculated according to the reference point 21 has not largely moved, that is, the first tilt angle currently used is updated to be the second tilt angle.

Next, in step S803, when the processing unit 13 determines to update the first tilt angle currently used to be the second tilt angle, the processing unit 13 drives the image capturing unit 11 to capture the first image frame of the reference point 21.

Thereafter, in step S805, the processing unit 13 calculates an angular difference between the first tilt angle and the second tilt angle.

In step S807, the processing unit 13 determines whether the difference in angle between the first tilt angle and the second tilt angle is less than a preset angle, for example, 20 degrees. When the processing unit 13 determines that the difference in angle between the first tilt angle and the second tilt angle is less than the preset angle, step S809 is performed. On the other hand, when the processing unit 13 determines that the difference in angle between the first tilt angle and the second tilt angle is greater than the preset angle, step S811 is performed.

In step S809, the processing unit 13 drives the image capturing unit 11 to capture the second image frame corresponding to the reference point 21, wherein the capturing time of the second image frame is later than the capturing time of the first image frame. The processing unit 13 will directly calculate the cursor positioning according to the imaging position of the reference point 21 in the second image frame and the second tilt angle. That is, when the difference in angle between the first tilt angle and the second tilt angle is less than a preset angle, for example, 20 degrees, the processing unit 13 determines that the jump point is not obvious, without compensation and directly according to the reference point 21 The imaging position in the second image frame and the pointing coordinate calculated by the second tilt angle calculate the cursor position.

In step S811, the processing unit 13 calculates the first pointing coordinate according to the imaging position of the reference point 21 in the first image frame and the first tilt angle. In step S813, the processing unit 13 calculates the second pointing coordinate according to the imaging position of the reference point 21 in the first image frame and the second tilt angle. The detailed calculation manners of the first pointing coordinate and the second pointing coordinate are the same as those of the foregoing embodiment, and therefore will not be described again.

Then, in step S815, the processing unit 13 causes the hand-held pointing device 10 to move the calculated pointing position based on the offset between the first pointing coordinate and the second pointing coordinate and the hand-held pointing device 10 when the hand-held pointing device 10 moves. For cursor positioning calculation.

In step S817, the processing unit 13 correspondingly generates a cursor parameter that controls the movement of the cursor 23 on the screen of the display device 20 in accordance with the cursor positioning calculation result in step S809 or step S815.

Subsequently, the processing unit 13 wirelessly transmits the cursor parameters to the display device 20 through the communication unit 16 to correspondingly control the motion of the cursor 23 on the screen of the display device 20.

FIG. 8 is only used to describe a cursor positioning method of the handheld pointing device 10, and FIG. 8 is not intended to limit the present invention. Those having ordinary knowledge in the technical field may also select a determination method for determining to update the first tilt angle to the second tilt angle according to actual operation requirements, for example, according to the displacement change, the speed change or the acceleration change of the reference point in the continuous image frame. Or, according to the movement change of the pointing coordinate calculated by the imaging position of the reference point in the plurality of continuous image frames, or an acceleration vector generated according to the plurality of acceleration values of the hand-held pointing device 10 in multiple axial directions, It is judged whether or not the hand-held pointing device 10 is in a moving state. The cursor positioning correction calculation method in the above embodiment may be performed in step S815 while performing correction to correct the pointing coordinates of the corresponding cursor 23 .

[Another embodiment of the cursor positioning method of the hand-held pointing device]

According to the above embodiment, the present invention can also be summarized as a cursor positioning method, which can apply a hand-held pointing device suitable for use in the interactive system of the above embodiment. Referring to FIG. 9 and FIG. 1 and FIG. 2 simultaneously, FIG. 9 is a schematic flow chart of a method for positioning a cursor of a handheld pointing device according to still another embodiment of the present invention. The cursor positioning method of FIG. 9 can be implemented in a firmware programming manner and executed by the processing unit 13 of the handheld pointing device 10.

In step S901, the processing unit 13 of the handheld pointing device 10 updates the current use of the first tilt angle to the second tilt angle at the first time. Specifically, the processing unit 13 drives the acceleration unit 12 to sense a plurality of acceleration values of the handheld pointing device 10 in multiple axial directions (eg, X-axis, Y-axis, and Z-axis) and correspondingly generate an acceleration vector. The processing unit 13 calculates the angle between the acceleration vector of the hand-held pointing device 10 and each axial direction using the above formulas (1) to (3) in accordance with the acceleration vector to obtain the current tilt angle of the hand-held pointing device 10.

In the first time, the processing unit 13 of the handheld pointing device 10 also captures the first image frame corresponding to the reference point 21 of the driving image capturing unit 11.

In step S903, the processing unit 13 of the handheld pointing device 10 calculates the corresponding reference point by using the first tilt angle and the second tilt angle, respectively, in the first time. 21 a first pointing coordinate and a second pointing coordinate of the imaging position within the first image frame.

At the same time, the processing unit 13 calculates the cursor positioning according to the first pointing coordinate to correspondingly generate the cursor parameter that controls the position of the cursor 23 at the display device 20. The processing unit 13 then wirelessly transmits the cursor parameters of the corresponding cursor 23 at the first time to the display device 20 using the communication unit 16, so that the cursor 23 is fixed to the first pointing coordinate. The detailed calculation and positioning manner of the cursor 23 and the cursor position control manner are the same as those of the foregoing embodiment, and therefore will not be described again.

In step S905, the processing unit 13 calculates a first offset vector between the first pointing coordinate and the second pointing coordinate.

Then, in step S907, the processing unit 13 generates a unit compensation vector based on the calculated first offset vector. In an embodiment, the processing unit 13 may determine the fixed correction number or the fixed correction according to the first offset vector or the difference between the first tilt angle and the second tilt angle as described in the foregoing embodiment. The compensation amount is used to calculate the unit compensation vector. If the pointing coordinates subsequently generated by the hand-held pointing device 10 are corrected with a fixed number of corrections, the processing unit 13 may divide the first offset vector by the number of corrections or the correction time to generate a unit compensation vector. If the pointing coordinate subsequently generated by the hand-held pointing device 10 is corrected with a fixed correction compensation amount, the processing unit 13 can set the unit compensation vector according to the corrected compensation amount. Processing unit 13 simultaneously divides the first offset vector by the unit compensation vector to produce the desired number of corrections.

It is worth mentioning that the fixed number of corrections or the correction time may be set by the processing unit 13 according to the image sampling frequency or the preset time. In other embodiments, the fixed number of corrections or corrections and the fixed amount of correction compensation may be set by the processing unit 13 according to a type of software program executed by the display device 20, such as a game software program. The detailed setting method has been described in detail in the foregoing embodiments, and those skilled in the art should be able to infer the setting manner from the above description, and therefore will not be described again.

Next, in step S909, at the second time, the processing unit 13 will retrieve the pair. The third pointing coordinate corresponding to the imaging position of the reference image point of the second image frame is calculated according to the second image frame and the imaging position of the second image frame and the second tilt angle according to the reference point. The second time is after the first time, that is, the extraction time of the second image frame is later than the extraction time of the first image frame.

In step S911, the processing unit 13 starts the cursor correction program at the second time to correspondingly calculate the cursor positioning according to the third pointing coordinate and the unit compensation vector. In detail, in the second time, the processing unit 13 may correct the third pointing coordinate by the cursor positioning correction calculation method shown in FIG. 6.

In step S913, the processing unit 13 calculates the display position of the cursor 23 at the display device 20 at the second time. In detail, the hand-held pointing device 10 correspondingly generates a cursor parameter of the control cursor 23 at the display device 20 according to the correction calculation result of the third pointing coordinate. The processing unit 13 wirelessly transmits the cursor parameters to the display device 20 through the communication unit 16 to correspondingly control the display position of the cursor 23 on the screen of the display device 20 at the second time.

In step S915, the processing unit 13 retrieves the third image frame corresponding to the reference point at the third time, and cooperates with the second tilt angle to calculate the fourth pointing coordinate of the corresponding reference point to the imaging position of the third image frame. The third time is after the second time, that is, the capture time of the third image frame is later than the capture time of the second image frame. In addition, the length of time between the second time and the third time may be configured according to the above-mentioned correction times or correction time.

In step S917, the processing unit 13 calculates the display position of the cursor on the display device 20 at the third time according to the fourth pointing coordinate. Then, in step S919, the processing unit 13 correspondingly generates a cursor parameter in which the control cursor 23 is located on the display device 20. The processing unit 13 transmits the cursor parameters to the display device 20 through the communication unit 16 in a wireless transmission manner, thereby correspondingly controlling the display position of the cursor 23 on the screen of the display device 20 at the third time.

It is worth mentioning that, in the second time, the processing unit 13 may also be according to the offset vector or between the first tilt angle and the second tilt angle according to the foregoing embodiment. The difference in angle determines whether or not to correct the pointing coordinate calculated at the second tilt angle. If the offset vector between the first pointing coordinate and the second pointing coordinate is smaller than the first offset vector (for example, 5 pixels) or the angle difference between the first tilt angle and the second tilt angle is smaller than a preset angle (for example, 20 When the processing unit 13 does not perform the cursor correction procedure, the cursor positioning is directly calculated according to the third pointing coordinate, and the cursor parameter of the control cursor 23 located at the display device 20 is correspondingly generated.

In addition, in this embodiment, the processing unit 13 may calculate the first tilt angle, the second tilt angle, the first pointing coordinate, the second pointing coordinate, the third pointing coordinate, the first offset vector, and the unit compensation vector. Recorded in the storage unit 15 respectively. In the technical field of the present invention, the general knowledge can also be added to the processing unit 13 by using the firmware design method to determine whether to update the first tilt angle to the second tilt angle in the first time according to the actual operation requirement. That is, the processing unit 13 can detect whether the pointing pointing device 10 is currently moving or in a static state by determining whether the reference point 21 or the pointing coordinate of the corresponding reference point is greatly moved, thereby determining whether to update. The tilt angle used by the hand-held pointing device 10.

It should be noted that FIG. 9 is only used to describe a cursor positioning method of the handheld pointing device 10, and FIG. 9 is not intended to limit the present invention.

In addition, the present invention can also use a computer readable recording medium to store the computer program code corresponding to the cursor positioning method of FIG. 3, FIG. 8 and FIG. 9 and the cursor positioning correction method of FIG. 6 for reading by a processor. Perform the aforementioned steps. The computer readable medium can be a floppy disk, a hard disk, a compact disk, a flash drive, a magnetic tape, a database accessible by the network, or a storage medium that can be easily thought of by the person skilled in the art.

[Possible effects of the examples]

In summary, the embodiments of the present invention provide a handheld pointing device and a cursor positioning method for a handheld pointing device. The handheld pointing device and the cursor positioning method are suitable for controlling a moving operation of a display device upstream target. The cursor positioning method can actively calculate the cursor positioning after the handheld pointing device updates the tilt angle. Correcting the pointing coordinates calculated with the updated tilt angle so that the cursor is indexed to the actual pointing position of the current hand-held pointing device by the pointing angle calculated by the pre-update tilt angle within a predetermined correction time or number of corrections, In order to avoid the occurrence of cursor jump points, and improve user convenience and stability.

The cursor positioning method may further determine, according to the accuracy required by the display device to execute the type of the software program and the resolution of the display device, whether to correct the pointing coordinates calculated by using the updated tilt angle and correct the compensation mode, Increase the utility and applicability of handheld pointing devices.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the invention.

S301~S317‧‧‧Step procedure

Claims (47)

A cursor positioning method for a hand-held pointing device, comprising: capturing a first image frame of a reference point when the hand-held pointing device updates a first tilt angle currently used to be a second tilt angle; Calculating a first pointing coordinate of the imaging position in the first image frame and the first tilting angle; calculating a second according to the imaging position of the reference point in the first image frame and the second tilting angle Pointing at a coordinate; capturing a second image frame of the reference point to calculate a third pointing coordinate according to the imaging position of the reference point in the second image frame and the second tilt angle; and according to the third pointing coordinate The first pointing coordinate and the second pointing coordinate calculate the cursor positioning to correspondingly generate a cursor parameter for controlling a cursor to be located on a display device. The cursor positioning method of claim 1, wherein the step of calculating the cursor positioning comprises: if an angle difference between the first tilt angle and the second tilt angle is less than a preset angle, according to the The third pointing coordinate correspondingly produces the cursor parameter that controls the cursor at the display device. The cursor positioning method of claim 1, wherein the step of calculating the cursor positioning comprises: if a first offset vector between the first pointing coordinate and the second pointing coordinate is smaller than a first preset When the threshold is offset, the cursor parameter corresponding to the cursor located in the display device is generated correspondingly according to the third pointing coordinate. The cursor positioning method of claim 3, wherein the step of calculating the cursor positioning comprises: if the first offset vector is greater than the first preset offset threshold, according to the first offset vector and The third pointing coordinate calculates the cursor positioning to compensate for the first The offset between the coordinates and the third pointing coordinate. The cursor positioning method of claim 4, wherein the step of calculating the cursor positioning comprises: a) setting a correction number N, a compensation vector C, and a correction coordinate, wherein the correction coordinate is the third Pointing to the coordinates; b) determining whether the first offset vector is greater than a second preset offset threshold; c) determining that the first offset vector is greater than the second predetermined offset threshold, setting N to the first An offset vector is divided by C, where C is a preset compensation value; if it is determined that the first offset vector is smaller than the second preset offset threshold, then C is set to be the first offset vector divided by N, Wherein N is a preset number of corrections; d) calculating a sum of the corrected coordinates and C to generate a compensated pointing coordinate; e) correspondingly generating and outputting a corresponding control according to the compensated pointing coordinate, the cursor is located at the Displaying the cursor parameter of the device; f) executing N-1, and determining whether N is equal to zero; and g) if N is not equal to zero, setting a fourth pointing coordinate to the corrected coordinate, and returning to step d), wherein the The four-point coordinate is based on the reference point in a third image frame captured The imaging position and the second tilt angle are calculated. The cursor positioning method of claim 5, wherein the step of calculating the cursor positioning further comprises: h) if N is equal to zero, when the handheld pointing device is moved, according to the reference point, The imaging position in the image frame and the second tilt angle correspond to the calculated cursor positioning. The cursor positioning method of claim 5, wherein before step d), further comprising: i) determining whether the handheld pointing device updates the second tilt angle to a third tilt angle; j) determining the handheld The pointing device has updated the second tilt angle currently used to be the third tilt angle, and calculates the current rotation of the handheld pointing device. And generating a second offset vector; and k) calculating a sum of the corrected coordinate, the second offset vector, and C to generate the compensated pointing coordinate. The cursor positioning method of claim 5, wherein the preset number of corrections is set according to an image sampling frequency of the reference point. The cursor positioning method of claim 8, wherein the image sampling frequency is set according to a preset correction time determined by a user. The cursor positioning method of claim 2 or 3, wherein the first preset offset threshold or the preset angle is set according to a type of a software program executed by the display device. The cursor positioning method of claim 1, wherein the handheld pointing device updates the currently used first tilt angle to the second tilt angle when it is determined that the reference point does not move substantially. The cursor positioning method of claim 11, wherein the handheld pointing device determines whether the reference point is greatly moved or not is determining whether the imaging position of the reference point in the plurality of consecutive image frames is greatly moved. The cursor positioning method of claim 12, wherein the handheld pointing device generates a displacement change less than a pre-measurement by calculating an imaging position of the reference point in any two consecutive image frames captured by the handheld pointing device. When the displacement threshold is set, the update currently uses the first tilt angle as the second tilt angle. The cursor positioning method of claim 12, wherein the handheld pointing device generates a velocity change less than a pre-measurement in calculating an imaging position of the reference point in any two consecutive image frames captured by the handheld pointing device When the speed threshold is set, the update currently uses the first tilt angle as the second tilt angle. The cursor positioning method of claim 1, wherein the handheld pointing device generates an acceleration vector equal to the handheld pointing when sensing a plurality of acceleration values of the handheld pointing device in multiple axes. When the gravitational acceleration value of the device is updated, the first tilt angle is currently used for the second tilt angle. The cursor positioning method of claim 1, wherein the handheld pointing device calculates that the pointing coordinates calculated by the reference point in the plurality of consecutive image frames and the first tilt angle are not greatly moved. The update currently uses the first tilt angle as the second tilt angle. A cursor positioning method for a handheld pointing device, comprising: capturing a first image frame of a reference point when the hand-held pointing device updates a first tilt angle currently used to be a second tilt angle; An angle difference between an oblique angle and the second tilt angle; when the calculated angle difference is greater than a predetermined angle, calculating according to the imaging position of the reference point in the first image frame and the first tilt angle a first pointing coordinate; calculating a second pointing coordinate according to the imaging position of the reference point in the first image frame and the second tilting angle; and causing the handheld pointing device to move based on the first pointing coordinate Performing a cursor positioning calculation with a first offset vector between the second pointing coordinate and the pointing coordinate of the handheld pointing device movement calculation; and correspondingly generating a control to move the cursor to a display device according to the calculation result a cursor parameter. The cursor positioning method of claim 17, comprising: if the angle difference is smaller than the preset angle, calculating a cursor position according to the imaging position of the reference point in a second image frame and the second tilt angle, and Correspondingly, the cursor parameter that controls the movement of the cursor is generated, wherein the second image frame is captured after the first image frame. The cursor positioning method of claim 17, wherein in the step of calculating the cursor positioning, the method comprises: a) setting a correction number N, a compensation vector C, and a correction coordinate, The calibration coordinate is a third pointing coordinate calculated according to the imaging position of the second image frame captured by the reference point and the second tilt angle; b) determining whether the first offset vector is greater than a preset Offset threshold; c) if it is determined that the first offset vector is greater than the preset offset threshold, setting N is the first offset vector divided by C, where C is a preset compensation value; An offset vector is less than the preset offset threshold, then setting C is the first offset vector divided by N, where N is a preset number of corrections; d) calculating a sum of the corrected coordinates and C to generate a a compensated pointing coordinate; e) generating and outputting corresponding cursor parameters corresponding to the cursor in the display device according to the compensated pointing coordinate; f) executing N-1, and determining whether N is equal to zero; and g) if N When the value is not equal to zero, a fourth pointing coordinate is set as the calibration coordinate, and the process returns to step d), wherein the fourth pointing coordinate is an imaging position according to the reference point in a third image frame captured and the second The angle of inclination is calculated. The cursor positioning method of claim 19, wherein in the step of calculating the cursor positioning, the method further comprises: h) if N is equal to zero, when the handheld pointing device is moved, according to the reference point The imaging position in one of the image frames and the second tilt angle correspond to the calculated cursor positioning. The cursor positioning method of claim 17, wherein the preset angle is set according to a type of a software program executed by the display device. The cursor positioning method of claim 17, wherein the handheld pointing device updates the currently used first tilt angle when the image forming position of the reference point in the plurality of consecutive image frames is not greatly moved. The second angle of inclination. The cursor positioning method of claim 17, wherein the handheld pointing device calculates an imaging position of the plurality of consecutive image frames according to the reference point and When the pointing coordinate calculated by the first tilt angle does not greatly move, the current tilt angle is updated to be the second tilt angle. A cursor positioning method for a handheld pointing device includes: the handheld pointing device updates a currently used first tilt angle to a second tilt angle at a first time; the handheld pointing device is respectively at the first time Calculating, by the first tilt angle and the second tilt angle, a first pointing coordinate and a second pointing coordinate corresponding to an imaging position in a first image frame; and using the second in a second time The tilt angle calculates a third pointing coordinate corresponding to the imaging position of the second image frame, wherein the second time is after the first time; and according to the third pointing coordinate, the first pointing coordinate, and The second pointing coordinate calculates the cursor positioning to correspondingly generate a cursor parameter that controls a cursor to be located in a display device. The cursor positioning method of claim 24, further comprising: calculating, at the first time, a first offset vector between the first pointing coordinate and the second pointing coordinate; generating according to the first offset vector a unit compensation vector; and at the second time, the third pointing coordinate is calculated using the unit compensation vector and the second tilt angle. The cursor positioning method of claim 24, wherein the step of calculating the cursor positioning comprises: at the second time, a first offset vector between the first pointing coordinate and the second pointing coordinate When less than a first preset offset threshold, the cursor parameter corresponding to the cursor located in the display device is correspondingly generated according to the third pointing coordinate. The cursor positioning method of claim 26, wherein in the step of calculating the cursor positioning, the method comprises: a) setting a correction number N, the unit compensation vector is C and a correction coordinate, wherein the correction coordinate is the third pointing coordinate; b) determining whether the first offset vector is greater than a second preset offset valve a value; c) if it is determined that the first offset vector is greater than the second preset offset threshold, setting N is the first offset vector divided by C, where C is a preset compensation value; The offset vector is less than the second preset offset threshold, then setting C is the first offset vector divided by N, where N is a preset number of corrections; d) calculating the sum of the corrected coordinates and C to generate a compensated pointing coordinate; e) generating and outputting corresponding cursor parameters corresponding to the cursor in the display device according to the compensated pointing coordinate; f) executing N-1, and determining whether N is equal to zero; and g) When N is not equal to zero, it is assumed that a fourth pointing coordinate generated according to the second tilt angle is the corrected coordinate, and returns to step d). The cursor positioning method of claim 24, further comprising: calculating, at the first time, the display position of the cursor at the first time according to the first pointing coordinate; and generating corresponding control of the cursor at the first time The cursor parameter of the display position. The cursor positioning method of claim 24, further comprising: calculating, at a third time, a fourth pointing coordinate corresponding to an imaging position of the third image frame by using the second tilt angle, according to the The fourth pointing coordinate calculates the display position of the cursor at the third time, wherein the third time is after the second time; and generating the cursor parameter corresponding to controlling the display position of the cursor at the third time. The cursor positioning method of claim 24, wherein the step of calculating the cursor positioning comprises: determining an angular difference between the first tilt angle and the second tilt angle Whether it is less than a preset angle; and if the angle difference is less than the preset angle, calculating the cursor position according to the third pointing coordinate, and correspondingly generating the cursor parameter for controlling the cursor on the display device. The cursor positioning method of claim 26 or 30, wherein the first preset offset threshold or the preset angle is set according to a type of a software program executed by the display device. A handheld pointing device includes: an image capturing unit for sequentially capturing a plurality of image frames of a reference point; and an acceleration unit for sensing a plurality of accelerations of the handheld pointing device in multiple axes a value, and correspondingly generating an acceleration vector; and a processing unit coupled to the image capturing unit and the acceleration unit, the processing unit according to the imaging position of the reference frame in the image frame and a first tilt angle currently used Calculating the cursor positioning; wherein when the handheld pointing device calculates and updates the currently used first tilt angle as a second tilt angle according to the acceleration values, the processing unit drives the image capturing unit to capture the reference point a first image frame, and calculating a first pointing coordinate and a second pointing coordinate by using the first tilting angle and the second tilting angle, respectively, the processing unit driving the image capturing unit to capture one of the reference points a second image frame, according to the imaging position of the reference point in the second image frame, the first pointing coordinate, the second pointing coordinate The second inclination angle calculating cursor positioning, and generates corresponding control a cursor is a cursor of a display device parameters. The hand-held pointing device of claim 32, wherein the processing unit utilizes the second tilt when the processing unit determines that an angular difference between the first tilt angle and the second tilt angle is less than a predetermined angle The angle and the reference point are used to calculate the cursor position at the imaging position of one of the image frames. The hand-held pointing device of claim 32, wherein when the processing unit determines that a first offset vector between the first pointing coordinate and the second pointing coordinate is less than a first preset offset threshold, The processing unit calculates the cursor positioning by using the second tilt angle and the imaging position of the reference point to one of the image frames. The hand-held pointing device of claim 34, wherein the processing unit generates the first offset vector between the first pointing coordinate and the second pointing coordinate according to the first pointing coordinate and the second pointing coordinate, The processing unit generates, according to the imaging position of the reference point in the second image frame, the first offset vector and the second tilt angle, correspondingly controlling the cursor parameter of the cursor on the display device. The hand-held pointing device of claim 35, wherein the processing unit performs the following steps when calculating the cursor positioning: a) setting a correction number N, a compensation vector C, and a correction coordinate, wherein the correction The coordinate is a third pointing coordinate calculated according to the imaging position of the second image frame and the second tilt angle; b) determining whether the first offset vector is greater than a second preset offset threshold; If it is determined that the first offset vector is greater than the second preset offset threshold, set N to the first offset vector divided by C, where C is a preset offset value; if the first offset vector is determined Less than the second preset offset threshold, setting C is the first offset vector divided by N, where N is a preset number of corrections; d) calculating the sum of the corrected coordinates and C to generate a compensation Pointing coordinates; e) generating and outputting corresponding cursor parameters corresponding to the cursor on the display device according to the compensated pointing coordinates; f) executing N-1, and determining whether N is equal to zero; and g) if N is not equal to zero When setting a fourth pointing coordinate to the correction coordinate And returns to step d), wherein the fourth point to the reference point coordinate is computed based on the imaging position in a third image captured in the frame and the second inclination angle. The hand-held pointing device of claim 36, wherein the processing unit performs the calculation of the cursor positioning: h) if N is equal to zero, the handheld pointing device is captured according to the reference point when the device is moved subsequently The imaging position in the image frame and the second tilt angle correspond to the calculated cursor positioning. The hand-held pointing device of claim 37, wherein the processing unit performs: i) determining whether the handheld pointing device is in calculating the compensated pointing coordinate, and updating the second tilting angle to be before step d) a third tilt angle; j) if it is determined that the second tilt angle currently used by the handheld pointing device is the third tilt angle, calculating a second offset vector generated by the current rotation of the handheld pointing device; k) calculating the sum of the corrected coordinates, the second offset vector and C to generate the compensated pointing coordinates. The hand-held pointing device of claim 36, further comprising: an input unit coupled to the processing unit for allowing a user to set N or C according to an image sampling frequency of the reference point. The hand-held pointing device of claim 36, further comprising: an input unit coupled to the processing unit, configured to allow a user to set an image sampling frequency of the reference point according to a preset correction time and according to the image The sampling frequency is set to N. The hand-held pointing device of claim 32, wherein the hand-held pointing device updates the first tilt angle currently used to determine the reference point when the imaging position of the image frames is not greatly moved. Two tilt angles. The hand-held pointing device of claim 41, wherein when the processing unit calculates that the displacement change of the reference position of the imaging position of any two consecutive image frames in the image frames is less than a preset displacement threshold, The processing unit updates the current use of the first tilt angle to the second tilt angle. The hand-held pointing device of claim 41, wherein when the processing unit calculates that the speed change of the reference position of the imaging positions of any two consecutive image frames in the image frames is less than a preset speed threshold, The processing unit updates the current use of the first tilt angle to the second tilt angle. The hand-held pointing device of claim 32, wherein the processing unit updates the current use of the first tilt angle for the first time when the processing unit determines that the acceleration vector size is equal to a gravity acceleration value of the handheld pointing device Two tilt angles. The hand-held pointing device of claim 32, wherein the processing unit calculates that the pointing coordinates calculated by the imaging position of the image frames and the first tilt angle according to the reference point do not greatly move, The processing unit update currently uses the first tilt angle as the second tilt angle. The hand-held pointing device of claim 32, further comprising: a communication unit for transmitting the cursor parameter for controlling the cursor to the display device. The hand-held pointing device of claim 32, wherein the acceleration unit is an accelerometer or a gravity sensor.