WO2018162152A3 - Bestimmung und korrektur einer räumlichen ausrichtung - Google Patents

Bestimmung und korrektur einer räumlichen ausrichtung Download PDF

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Publication number
WO2018162152A3
WO2018162152A3 PCT/EP2018/052484 EP2018052484W WO2018162152A3 WO 2018162152 A3 WO2018162152 A3 WO 2018162152A3 EP 2018052484 W EP2018052484 W EP 2018052484W WO 2018162152 A3 WO2018162152 A3 WO 2018162152A3
Authority
WO
WIPO (PCT)
Prior art keywords
determining
spatial orientation
acceleration
detected
ameas
Prior art date
Application number
PCT/EP2018/052484
Other languages
English (en)
French (fr)
Other versions
WO2018162152A2 (de
Inventor
Rudolf Bichler
Amithash KANKANALLU JAGADISH
Markus DIHLMANN
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to JP2019548593A priority Critical patent/JP6739662B2/ja
Priority to CN201880016362.6A priority patent/CN110383002A/zh
Priority to US16/492,193 priority patent/US11112861B2/en
Publication of WO2018162152A2 publication Critical patent/WO2018162152A2/de
Publication of WO2018162152A3 publication Critical patent/WO2018162152A3/de

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114—Tracking parts of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6803—Head-worn items, e.g. helmets, masks, headphones or goggles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/012—Head tracking input arrangements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Human Computer Interaction (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Biophysics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Automation & Control Theory (AREA)
  • Physiology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Geometry (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • User Interface Of Digital Computer (AREA)
  • Gyroscopes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Position Input By Displaying (AREA)

Abstract

Ein Verfahren zum Bestimmen der räumlichen Ausrichtung eines Objekts umfasst Schritte des Erfassens einer Rotationsgeschwindigkeit des Objekts mittels eines ersten Sensors; des Bestimmens eines Schätzwerts für die räumliche Ausrichtung des Objekts auf der Basis der erfassten Rotationsgeschwindigkeit und eines Ausgangswerts für die räumliche Ausrichtung; des Erfassens der auf das Objekt wirkenden Beschleunigung ameas mittels eines zweiten Sensors; des Bestimmens der durch die Rotationsbewegung verursachten Beschleunigungskomponente der erfassten Beschleunigung ameas auf der Basis der erfassten Rotationsgeschwindigkeit und eines gegebenen Abstandes des zweiten Sensors von der Drehachse der Rotationsbewegung; des Bestimmens der durch die Erdanziehung verursachten Beschleunigungskomponente agrav der erfassten Beschleunigung ameas; und der Korrektur des Schätzwerts für die räumliche Ausrichtung unter Berücksichtigung der durch die Erdanziehung verursachten Beschleunigungskomponente agrav.
PCT/EP2018/052484 2017-03-08 2018-02-01 Bestimmung einer räumlichen ausrichtung WO2018162152A2 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2019548593A JP6739662B2 (ja) 2017-03-08 2018-02-01 空間的な向きの決定
CN201880016362.6A CN110383002A (zh) 2017-03-08 2018-02-01 空间取向的确定
US16/492,193 US11112861B2 (en) 2017-03-08 2018-02-01 Determination of a spatial orientation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017203755.5A DE102017203755A1 (de) 2017-03-08 2017-03-08 Bestimmung einer räumlichen Ausrichtung
DE102017203755.5 2017-03-08

Publications (2)

Publication Number Publication Date
WO2018162152A2 WO2018162152A2 (de) 2018-09-13
WO2018162152A3 true WO2018162152A3 (de) 2018-11-01

Family

ID=61189433

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/052484 WO2018162152A2 (de) 2017-03-08 2018-02-01 Bestimmung einer räumlichen ausrichtung

Country Status (6)

Country Link
US (1) US11112861B2 (de)
JP (1) JP6739662B2 (de)
CN (1) CN110383002A (de)
DE (1) DE102017203755A1 (de)
TW (1) TW201833557A (de)
WO (1) WO2018162152A2 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019176020A1 (ja) * 2018-03-14 2019-09-19 株式会社ソニー・インタラクティブエンタテインメント 位置推定装置、位置推定方法及びプログラム
DE102018209012A1 (de) * 2018-06-07 2019-12-12 Robert Bosch Gmbh Verfahren zur Bestimmung einer Orientierung einer bewegbaren Vorrichtung
CN112188037B (zh) * 2020-09-24 2023-03-24 影石创新科技股份有限公司 生成陀螺仪旋转方向的方法及计算机设备
WO2023245347A1 (en) * 2022-06-20 2023-12-28 Guangdong Oppo Mobile Telecommunications Corp., Ltd. Imaging device and imaging device control method
WO2024084452A1 (en) * 2022-10-20 2024-04-25 Srinivasan Tilak Spatial orientation indication device

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020194914A1 (en) * 2000-04-21 2002-12-26 Intersense, Inc., A Massachusetts Corporation Motion-tracking

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US5645077A (en) * 1994-06-16 1997-07-08 Massachusetts Institute Of Technology Inertial orientation tracker apparatus having automatic drift compensation for tracking human head and other similarly sized body
US5991085A (en) * 1995-04-21 1999-11-23 I-O Display Systems Llc Head-mounted personal visual display apparatus with image generator and holder
US6826509B2 (en) * 2000-10-11 2004-11-30 Riddell, Inc. System and method for measuring the linear and rotational acceleration of a body part
US20140184509A1 (en) * 2013-01-02 2014-07-03 Movea Sa Hand held pointing device with roll compensation
US8010313B2 (en) * 2008-06-27 2011-08-30 Movea Sa Hand held pointing device with roll compensation
EP2140915B1 (de) * 2008-06-30 2019-03-06 Nintendo Co., Ltd. Gerät zur Orientierungsberechnung, Speichermedium mit dort gespeichertem Orientierungsberechnungsprogramm, Spielgerät und Speichermedium mit dort gespeichertem Spielprogramm
KR101956186B1 (ko) * 2011-04-27 2019-03-11 삼성전자주식회사 가속도 센서를 이용한 자세 추정 장치 및 방법
USD701206S1 (en) 2013-06-04 2014-03-18 Oculus VR, Inc. Virtual reality headset
CN104618712A (zh) * 2015-02-13 2015-05-13 北京维阿时代科技有限公司 一种头戴式虚拟现实设备及包括该设备的虚拟现实系统
CN105044915A (zh) * 2015-09-02 2015-11-11 大连麒美数字科技有限公司 一种利用头戴显示器实现影片互动的控制方法
CN105371846B (zh) * 2015-11-13 2018-01-05 广州周立功单片机科技有限公司 载体姿态检测方法及其系统
JP2017191474A (ja) * 2016-04-14 2017-10-19 株式会社ローレル・コード Ｈｍｄ装置におけるセンサー類を用いたユーザーインタフェースプログラムおよび装置
JP2017203760A (ja) * 2016-05-11 2017-11-16 木村　岳 幾何学的補正機能を有し、ｍｅｍｓモーションセンサーのサンプリングレートを超えて対象物の姿勢を測定するモーションセンサーシステム
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Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020194914A1 (en) * 2000-04-21 2002-12-26 Intersense, Inc., A Massachusetts Corporation Motion-tracking

Also Published As

Publication number Publication date
DE102017203755A1 (de) 2018-09-13
CN110383002A (zh) 2019-10-25
JP2020510836A (ja) 2020-04-09
US11112861B2 (en) 2021-09-07
WO2018162152A2 (de) 2018-09-13
US20210141447A1 (en) 2021-05-13
JP6739662B2 (ja) 2020-08-12
TW201833557A (zh) 2018-09-16

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