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1. 发明授权

US07474809B2 Implement for optically inferring information from a jotting surface and environmental landmarks 有权
标题翻译：实现从注释表面和环境地标光学推断信息
公开(公告)号：US07474809B2
公开(公告)日：2009-01-06
申请号：US11728951
申请日：2007-03-26
申请人： Stewart R. Carl , Marek Alboszta , Michael J. Mandella , Hector H Gonzalez , Timothy Hawks
发明人： Stewart R. Carl , Marek Alboszta , Michael J. Mandella , Hector H Gonzalez , Timothy Hawks
IPC分类号： G06K9/22
CPC分类号： G06F3/0325 , G06F3/03545 , G06F3/03546
摘要： The present invention relates to a jotting implement that infers hand-jotted information from viewing a jotting surface and environmental landmarks. The hand-jotted information is any information marked on the jotting surface as a result of writing, jotting, drawing, sketching or otherwise operating on the jotting surface as well as hand-generated information produced by moving the implement in the air with respect to the jotting surface. The jotting implement has a nib for jotting and an arrangement for determining when the nib is jotting on the jotting surface. Further, the implement has an optical unit for viewing an environmental landmark and the jotting surface. The implement has a processing unit for receiving optical data of the environmental landmark and the jotting surface from the optical unit and determining from the optical data the physical coordinates of the nib with respect to the jotting surface. The environmental landmark is preferably made up several beacons that emit electromagnetic radiation and are affixed to a host structure.
摘要翻译：本发明涉及一种记录工具，其通过查看记录表面和环境标志来推断手动记录的信息。手动记录的信息是通过在记录表面上书写，记录，绘图，草图或以其他方式操作的记录表面上标记的任何信息，以及通过在空气中相对于移动的方式移动工具而产生的手工产生的信息记录表面。记录工具具有用于记录的笔尖和用于确定笔尖何时在笔记表面上记录的布置。此外，该工具具有用于观察环境地标和记录表面的光学单元。该工具具有处理单元，用于从光学单元接收环境地标和记录表面的光学数据，并根据光学数据确定笔尖相对于记录表面的物理坐标。环境标志优选地由发射电磁辐射的几个信标构成，并且固定到主机结构。

2. 发明申请

US20080080791A1 Implement for optically inferring information from a jotting surface and environmental landmarks 有权
标题翻译：实现从注释表面和环境地标光学推断信息
公开(公告)号：US20080080791A1
公开(公告)日：2008-04-03
申请号：US11728951
申请日：2007-03-26
申请人： Stewart Carl , Michael Mandella , Hector Gonzalez-Banos , Timothy Hawks , Marek Alboszta
发明人： Stewart Carl , Michael Mandella , Hector Gonzalez-Banos , Timothy Hawks , Marek Alboszta
IPC分类号： G06K9/22
CPC分类号： G06F3/0325 , G06F3/03545 , G06F3/03546
摘要： The present invention relates to a jotting implement that infers hand-jotted information from viewing a jotting surface and environmental landmarks. The hand-jotted information is any information marked on the jotting surface as a result of writing, jotting, drawing, sketching or otherwise operating on the jotting surface as well as hand-generated information produced by moving the implement in the air with respect to the jotting surface. The jotting implement has a nib for jotting and an arrangement for determining when the nib is jotting on the jotting surface. Further, the implement has an optical unit for viewing an environmental landmark and the jotting surface. The implement has a processing unit for receiving optical data of the environmental landmark and the jotting surface from the optical unit and determining from the optical data the physical coordinates of the nib with respect to the jotting surface. The environmental landmark is preferably made up several beacons that emit electromagnetic radiation and are affixed to a host structure.
摘要翻译：本发明涉及一种记录工具，其通过查看记录表面和环境标志来推断手动记录的信息。手动记录的信息是通过在记录表面上书写，记录，绘图，草图或以其他方式操作的记录表面上标记的任何信息，以及通过在空气中相对于移动的方式移动工具而产生的手工产生的信息记录表面。记录工具具有用于记录的笔尖和用于确定笔尖何时在笔记表面上记录的布置。此外，该工具具有用于观察环境地标和记录表面的光学单元。该工具具有处理单元，用于从光学单元接收环境地标和记录表面的光学数据，并根据光学数据确定笔尖相对于记录表面的物理坐标。环境标志优选地由发射电磁辐射的几个信标构成，并且固定到主机结构。

3. 发明授权

US09229540B2 Deriving input from six degrees of freedom interfaces 有权
标题翻译：从六个自由度接口获取输入
公开(公告)号：US09229540B2
公开(公告)日：2016-01-05
申请号：US13199239
申请日：2011-08-22
申请人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
发明人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
IPC分类号： G06F3/033 , G09G5/08 , G06F3/0354 , G06F3/01
CPC分类号： G06F3/03545 , G06F3/011
摘要： The present invention relates to interfaces and methods for producing input for software applications based on the absolute pose of an item manipulated or worn by a user in a three-dimensional environment. Absolute pose in the sense of the present invention means both the position and the orientation of the item as described in a stable frame defined in that three-dimensional environment. The invention describes how to recover the absolute pose with optical hardware and methods, and how to map at least one of the recovered absolute pose parameters to the three translational and three rotational degrees of freedom available to the item to generate useful input. The applications that can most benefit from the interfaces and methods of the invention involve 3D virtual spaces including augmented reality and mixed reality environments.
摘要翻译：本发明涉及用于基于用户在三维环境中操作或佩戴的物品的绝对姿势来产生用于软件应用的输入的接口和方法。在本发明意义上的绝对姿势是指在该三维环境中定义的稳定框架中描述的项目的位置和方向。本发明描述了如何利用光学硬件和方法恢复绝对姿态，以及如何将恢复的绝对姿态参数中的至少一个映射到可用于项目的三个平移和三个旋转自由度以产生有用的输入。可以从本发明的接口和方法最受益的应用涉及3D虚拟空间，包括增强现实和混合现实环境。

4. 发明授权

US07961909B2 Computer interface employing a manipulated object with absolute pose detection component and a display 有权
公开(公告)号：US07961909B2
公开(公告)日：2011-06-14
申请号：US12586226
申请日：2009-09-18
申请人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
发明人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
IPC分类号： G06K9/00
CPC分类号： G06F3/017 , A63F13/20 , A63F13/211 , A63F13/213 , A63F13/428 , A63F13/812 , G01B21/04 , G02B27/0172 , G02B2027/0178 , G06F3/01 , G06F3/0304 , G06F3/0317 , G06F3/0325 , G06F3/0346 , G06F3/03545 , G06F3/04815 , G06F3/04845 , G06F2203/04806 , G06K9/22 , G06T7/73 , G06T19/006 , G06T2207/30241
摘要： A system that has a remote control, e.g., a wand, equipped with a relative motion sensor that outputs data indicative of a change in position of the wand. The system also has one or more light sources and a photodetector that detects their light and outputs data indicative of the detected light. The system uses one or more controllers to determine the absolute position of the wand based on the data output by the relative motion sensor and by the photodetector. The data enables determination of the absolute pose of the wand, which includes the absolute position of a reference point chosen on the wand and the absolute orientation of the wand. To properly express the absolute parameters of position and/or orientation of the wand a reference location is chosen with respect to which the calculations are performed. The system is coupled to a display that shows an image defined by a first and second orthogonal axes such as two axes belonging to world coordinates (Xo,Yo,Zo). The one or more controllers are configured to generate signals that are a function of the absolute position of the wand in or along a third axis for rendering the display. To simplify the mapping of a real three-dimensional environment in which the wand is operated to the cyberspace of the application that the system is running, the third axis is preferably the third Cartesian coordinate axis of world coordinates (Xo,Yo,Zo).

5. 发明授权

US07729515B2 Optical navigation apparatus using fixed beacons and a centroid sensing device 有权
标题翻译：光学导航仪使用固定信标和重心传感装置
公开(公告)号：US07729515B2
公开(公告)日：2010-06-01
申请号：US11591403
申请日：2006-10-31
申请人： Michael J. Mandella , Hector H. Gonzalez-Banos , Timothy J. Hawks , Marek Alboszta
发明人： Michael J. Mandella , Hector H. Gonzalez-Banos , Timothy J. Hawks , Marek Alboszta
IPC分类号： G06K9/00 , G06F3/033
CPC分类号： G06F3/0428 , G06F3/0325 , G06F3/03545 , G06F3/0423 , G06F3/0425 , G06T7/73
摘要： The present invention relates to an optical navigation system for determining a pose, which includes the position and orientation of an object in an environment. The optical navigation system uses a number of beacons affixed at known locations in the environment to provide electromagnetic radiation in a sequenced pattern. An on-board optic images the radiation from the beacons onto an on-board centroid sensing device to obtain an imaged distribution of the radiation on the on-board centroid sensing device. The centroid sensing device determines the centroid of the imaged distribution and provides centroid information to a navigation unit for determining the pose of the object from the centroid. The navigation system is particularly well-suited for navigating hand-held objects.
摘要翻译：本发明涉及一种用于确定姿势的光学导航系统，其包括物体在环境中的位置和取向。光学导航系统使用固定在环境中的已知位置处的多个信标以按顺序提供电磁辐射。车载光学器件将来自信标的辐射图像映射到车载重心感测装置上，以获得在车载重心感测装置上的辐射的成像分布。重心感测装置确定成像分布的质心，并将质心信息提供给导航单元，用于从质心确定物体的姿态。导航系统特别适用于导航手持物体。

6. 发明申请

US20100001998A1 Apparatus and method for determining an absolute pose of a manipulated object in a real three-dimensional environment with invariant features 有权
标题翻译：用于在具有不变特征的真实三维环境中确定操纵对象的绝对姿态的装置和方法
公开(公告)号：US20100001998A1
公开(公告)日：2010-01-07
申请号：US12584402
申请日：2009-09-03
申请人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
发明人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
IPC分类号： G06T15/00 , G06F3/041
CPC分类号： G06F3/0325 , G01B11/002 , G01B11/03 , G06F3/0346 , G06F3/03545 , G06F3/04815 , G06K9/22 , G06T7/73
摘要： An apparatus and method for optically inferring an absolute pose of a manipulated object in a real three-dimensional environment from on-board the object with the aid of an on-board optical measuring arrangement. At least one invariant feature located in the environment is used by the arrangement for inferring the absolute pose. The inferred absolute pose is expressed with absolute pose data (φ,θ,ψ,x,y,z) that represents Euler rotated object coordinates expressed in world coordinates (Xo,Yo,Zo) with respect to a reference location, such as, for example, the world origin. Other conventions for expressing absolute pose data in three-dimensional space and representing all six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) are also supported. Irrespective of format, a processor prepares the absolute pose data and identifies a subset that may contain all or fewer than all absolute pose parameters. This subset is transmitted to an application via a communication link, where it is treated as input that allows a user of the manipulated object to interact with the application and its output.
摘要翻译：借助于车载光学测量装置，从物体上的实际三维环境中光学推断操纵对象的绝对姿态的装置和方法。通过布置来使用位于环境中的至少一个不变特征来推断绝对姿态。绝对姿态用绝对姿态数据（phi，theta，psi，x，y，z）表示，该绝对姿态数据表示相对于参考位置在世界坐标（Xo，Yo，Zo）中表示的欧拉旋转对象坐标，例如，世界起源。还支持用于在三维空间中表达绝对姿态数据并表示所有六个自由度（三个平移自由度和三个旋转自由度）的其他约定。不考虑格式，处理器准备绝对姿态数据，并识别可能包含所有或少于所有绝对姿态参数的子集。该子集通过通信链路被传送到应用程序，其中它被视为允许被操纵对象的用户与应用程序及其输出进行交互的输入。

7. 发明授权

US08553935B2 Computer interface employing a manipulated object with absolute pose detection component and a display 有权
标题翻译：使用具有绝对姿态检测组件和显示器的操纵对象的计算机接口
公开(公告)号：US08553935B2
公开(公告)日：2013-10-08
申请号：US13134006
申请日：2011-05-25
申请人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
发明人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
IPC分类号： G06K9/00
CPC分类号： G06F3/017 , A63F13/20 , A63F13/211 , A63F13/213 , A63F13/428 , A63F13/812 , G01B21/04 , G02B27/0172 , G02B2027/0178 , G06F3/01 , G06F3/0304 , G06F3/0317 , G06F3/0325 , G06F3/0346 , G06F3/03545 , G06F3/04815 , G06F3/04845 , G06F2203/04806 , G06K9/22 , G06T7/73 , G06T19/006 , G06T2207/30241
摘要： A system that has a remote control, e.g., a wand, equipped with a relative motion sensor that outputs data indicative of a change in position of the wand. The system also has one or more light sources and a photodetector that detects their light and outputs data indicative of the detected light. The system uses one or more controllers to determine the absolute position of the wand based on the data output by the relative motion sensor and by the photodetector. The data enables determination of the absolute pose of the wand, which includes the absolute position of a reference point chosen on the wand and the absolute orientation of the wand. To properly express the absolute parameters of position and/or orientation of the wand a reference location is chosen with respect to which the calculations are performed. The system is coupled to a display that shows an image defined by a first and second orthogonal axes such as two axes belonging to world coordinates (Xo,Yo,Zo). The one or more controllers are configured to generate signals that are a function of the absolute position of the wand in or along a third axis for rendering the display. To simplify the mapping of a real three-dimensional environment in which the wand is operated to the cyberspace of the application that the system is running, the third axis is preferably the third Cartesian coordinate axis of world coordinates (Xo,Yo,Zo).
摘要翻译：具有远程控制（例如，魔杖）的系统，其配备有相对运动传感器，其输出指示棒的位置变化的数据。该系统还具有一个或多个光源以及检测其光并输出指示检测到的光的数据的光检测器。该系统使用一个或多个控制器基于由相对运动传感器和光电检测器输出的数据来确定棒的绝对位置。该数据使得能够确定魔杖的绝对姿态，其包括在魔杖上选择的参考点的绝对位置和魔杖的绝对定向。为了正确地表达杖的位置和/或取向的绝对参数，选择执行计算的参考位置。该系统耦合到显示器，其显示由第一和第二正交轴（例如属于世界坐标（Xo，Yo，Zo）的两个轴）定义的图像）。所述一个或多个控制器被配置为产生作为所述魔杖在或沿着第三轴的绝对位置的函数的信号，用于渲染显示。为了简化操作棒的实际三维环境对系统运行的应用程序的网络空间的映射，第三轴优选地是世界坐标（Xo，Yo，Zo）的第三笛卡尔坐标轴。

8. 发明申请

US20120038549A1 Deriving input from six degrees of freedom interfaces 有权
标题翻译：从六个自由度接口获取输入
公开(公告)号：US20120038549A1
公开(公告)日：2012-02-16
申请号：US13199239
申请日：2011-08-22
申请人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
发明人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
IPC分类号： G09G5/00
CPC分类号： G06F3/03545 , G06F3/011
摘要： The present invention relates to interfaces and methods for producing input for software applications based on the absolute pose of an item manipulated or worn by a user in a three-dimensional environment. Absolute pose in the sense of the present invention means both the position and the orientation of the item as described in a stable frame defined in that three-dimensional environment. The invention describes how to recover the absolute pose with optical hardware and methods, and how to map at least one of the recovered absolute pose parameters to the three translational and three rotational degrees of freedom available to the item to generate useful input. The applications that can most benefit from the interfaces and methods of the invention involve 3D virtual spaces including augmented reality and mixed reality environments.
摘要翻译：本发明涉及用于基于用户在三维环境中操作或佩戴的物品的绝对姿势来产生用于软件应用的输入的接口和方法。在本发明意义上的绝对姿势是指在该三维环境中定义的稳定框架中描述的项目的位置和方向。本发明描述了如何利用光学硬件和方法恢复绝对姿态，以及如何将恢复的绝对姿态参数中的至少一个映射到可用于项目的三个平移和三个旋转自由度以产生有用的输入。可以从本发明的接口和方法最受益的应用涉及3D虚拟空间，包括增强现实和混合现实环境。

9. 发明申请

US20110227915A1 Computer interface employing a manipulated object with absolute pose detection component and a display 有权
标题翻译：使用具有绝对姿态检测组件和显示器的操纵对象的计算机接口
公开(公告)号：US20110227915A1
公开(公告)日：2011-09-22
申请号：US13134006
申请日：2011-05-25
申请人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
发明人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
IPC分类号： G06T15/00 , G09G5/00
CPC分类号： G06F3/017 , A63F13/20 , A63F13/211 , A63F13/213 , A63F13/428 , A63F13/812 , G01B21/04 , G02B27/0172 , G02B2027/0178 , G06F3/01 , G06F3/0304 , G06F3/0317 , G06F3/0325 , G06F3/0346 , G06F3/03545 , G06F3/04815 , G06F3/04845 , G06F2203/04806 , G06K9/22 , G06T7/73 , G06T19/006 , G06T2207/30241
摘要： A system that has a remote control, e.g., a wand, equipped with a relative motion sensor that outputs data indicative of a change in position of the wand. The system also has one or more light sources and a photodetector that detects their light and outputs data indicative of the detected light. The system uses one or more controllers to determine the absolute position of the wand based on the data output by the relative motion sensor and by the photodetector. The data enables determination of the absolute pose of the wand, which includes the absolute position of a reference point chosen on the wand and the absolute orientation of the wand. To properly express the absolute parameters of position and/or orientation of the wand a reference location is chosen with respect to which the calculations are performed. The system is coupled to a display that shows an image defined by a first and second orthogonal axes such as two axes belonging to world coordinates (Xo,Yo,Zo). The one or more controllers are configured to generate signals that are a function of the absolute position of the wand in or along a third axis for rendering the display. To simplify the mapping of a real three-dimensional environment in which the wand is operated to the cyberspace of the application that the system is running, the third axis is preferably the third Cartesian coordinate axis of world coordinates (Xo,Yo,Zo).
摘要翻译：具有远程控制（例如，魔杖）的系统，其配备有相对运动传感器，其输出指示棒的位置变化的数据。该系统还具有一个或多个光源以及检测其光并输出指示检测到的光的数据的光检测器。该系统使用一个或多个控制器基于由相对运动传感器和光电检测器输出的数据来确定棒的绝对位置。该数据使得能够确定魔杖的绝对姿态，其包括在魔杖上选择的参考点的绝对位置和魔杖的绝对定向。为了正确地表达杖的位置和/或取向的绝对参数，选择执行计算的参考位置。该系统耦合到显示器，其显示由第一和第二正交轴（例如属于世界坐标（Xo，Yo，Zo）的两个轴）定义的图像）。所述一个或多个控制器被配置为产生作为所述魔杖在或沿着第三轴的绝对位置的函数的信号，用于渲染显示。为了简化操作棒的实际三维环境对系统运行的应用程序的网络空间的映射，第三轴优选地是世界坐标（Xo，Yo，Zo）的第三笛卡尔坐标轴。

10. 发明授权

US07826641B2 Apparatus and method for determining an absolute pose of a manipulated object in a real three-dimensional environment with invariant features 有权
标题翻译：用于在具有不变特征的真实三维环境中确定操纵对象的绝对姿态的装置和方法
公开(公告)号：US07826641B2
公开(公告)日：2010-11-02
申请号：US12584402
申请日：2009-09-03
申请人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
发明人： Michael J. Mandella , Hector H. Gonzalez-Banos , Marek Alboszta
IPC分类号： G06K9/00 , G06F3/033
CPC分类号： G06F3/0325 , G01B11/002 , G01B11/03 , G06F3/0346 , G06F3/03545 , G06F3/04815 , G06K9/22 , G06T7/73
摘要： An apparatus and method for optically inferring an absolute pose of a manipulated object in a real three-dimensional environment from on-board the object with the aid of an on-board optical measuring arrangement. At least one invariant feature located in the environment is used by the arrangement for inferring the absolute pose. The inferred absolute pose is expressed with absolute pose data (φ, θ, ψ, x, y, z) that represents Euler rotated object coordinates expressed in world coordinates (Xo, Yo, Zo) with respect to a reference location, such as, for example, the world origin. Other conventions for expressing absolute pose data in three-dimensional space and representing all six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) are also supported. Irrespective of format, a processor prepares the absolute pose data and identifies a subset that may contain all or fewer than all absolute pose parameters. This subset is transmitted to an application via a communication link, where it is treated as input that allows a user of the manipulated object to interact with the application and its output.
摘要翻译：借助于车载光学测量装置，从物体上的实际三维环境中光学推断操纵对象的绝对姿态的装置和方法。通过布置来使用位于环境中的至少一个不变特征来推断绝对姿态。推测的绝对姿势用绝对姿态数据（＆phgr;，thetas;ψ，x，y，z）表示，其表示相对于参考位置在世界坐标（Xo，Yo，Zo）中表示的欧拉旋转对象坐标，例如例如，世界起源。还支持用于在三维空间中表达绝对姿态数据并表示所有六个自由度（三个平移自由度和三个旋转自由度）的其他约定。不考虑格式，处理器准备绝对姿态数据，并识别可能包含所有或少于所有绝对姿态参数的子集。该子集通过通信链路被传送到应用程序，其中它被视为允许被操纵对象的用户与应用程序及其输出进行交互的输入。

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