EP0959444A1
Expired / Lapsed
EP
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Method for following and imaging a subject's three-dimensional position and orientation, method for presenting a virtual space to a subject, and systems for implementing said methods
Assignee: Individual
•
Filing: 1997-08-07
•
Granted: —
•
Expires: 2017-08-07
Abstract
Abstract The invention relates to methods and systems for determining a user's position and orientation in space and for displaying virtual environment, and is applicable to interactive computer games, training systems of sportive, health improving or military designation. The invention increases accuracy and speed of tracking the user's position and orientation in space, provides for convenient and natural movements of the user and presents virtual environment in response to the user's movements in real environment. Sensors 4 for tracking an angular position of a user's locomotor system segment 2 are arranged proximate junctions 3 between the segments 2 and on some of the segments 2. Main reference direction determining means 5 is disposed on at least one of the segments 2 to determine an orientation of the segment with respect to reference directions. Information from the sensors 5, reference direction determining means 5 and, if appropriate, from means 8 for user's interaction with virtual environment objects is processed to determine a position and orientation in space of the user in general on the basis of values of angles between segments and the orientation of the main segment on which the reference direction determining means is located with respect to reference directions. The obtained data is employed to display the user's movements in real time or to present virtual environment to the user in accordance with his or her field of view changing in response to movements in real environment.
Inventors
- 👤 Nurakhmed Nurislamovich Latypov
- 👤 Nurulla Nurislamovich Latypov
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-09 19:50
CPC Classifications
G; G01; G01S; G01S5/00; G01S5/02; G01S5/0247; A; A63; A63F; A63F13/00; A63F13/40; A63F13/42; G06; G06F; G06F3/00; G06F3/01; G06F3/011; G06F3/017; G06F3/048; G06F3/0481; G06F3/04815; G09; G09B; G09B23/00; G09B23/28; A63F13/20; A63F13/21; A63F13/212; A63F2300/00; A63F2300/10; A63F2300/1012; A63F2300/60; A63F2300/64; A63F2300/66; A63F2300/80; A63F2300/8005; A63F2300/8082
Claims Analysis
Total Claims: 52
Claim 1
Independent Claim
174 words
A method for tracking and displaying a user's position and
orientation in space, including determining parameters of
displacements of user's body parts, converting the obtained
measurement data into a required presentation form and processing a
set of the converted data to produce data defining the user's position
and orientation in space, said method characterized by the steps of: a) attaching, proximate each of basic junctions of user's
locomotor system segments, means for determining at least one angle
between segments adjacent to a respective junction; b) locating reference direction determining means on at least one
of the user's locomotor system segments; c) determining an orientation of the at least one segment on
which said reference direction determining means is located with
respect to said reference directions; d) determining angles between the segments adjacent to said
basic junctions; e) determining a position and orientation in space of the user in
general on the basis of determined angle values and the orientation of
the at least one segment on which the reference direction determining
means is located.
Claim 2
Dependent Claim
41 words
A method of claim 1, wherein said steps from (c) to (e) are
repeated at predetermined intervals to obtain related sequences of data
determining temporal changes in the user's position and orientation in
space in response to the user's real movements,.
Claim 3
Dependent Claim
22 words
A method of claim 2, wherein the obtained data of the user's
position and orientation in space is recorded for subsequent use.
Claim 4
Dependent Claim
55 words
A method of claim 1, wherein said step (e) is accomplished
using values of linear dimensions of the user's locomotor system
segments, and further includes the steps of: f) determining a bearing segment or segments of the user's
locomotor system; g) positioning said bearing segment or segments relative to a
support in an environment displayed.
Claim 5
Dependent Claim
47 words
A method of claim 4, wherein said steps from (d) to (g) are
repeated at predetermined intervals to obtain and record a sequence of
data of the user's position and orientation in the displayed
environment and to display the user's movements in accordance with
the obtained data.
Claim 6
Dependent Claim
14 words
A method of claim 5, wherein the user's movements are
displayed in real time.
Claim 7
Dependent Claim
20 words
A method of claim 5, wherein the user's movements are
displayed later, as needed, in accordance with the recorded data.
Claim 8
Dependent Claim
20 words
A method of claim 6 or 7, wherein the user's movements are
displayed in accordance with a required observation aspect.
Claim 9
Dependent Claim
26 words
A method of claim 6 or 7, further comprising editing the
generated image of the user's movements and displaying the edited
image of the user's movements.
Claim 10
Independent Claim
26 words
A method of any of preceding claims, wherein said reference
directions are north-south directions of a geomagnetic field sensor and
directions of a local vertical sensor.
Claim 11
Independent Claim
23 words
A method of any of claims 1 to 9, wherein said reference
directions are north-south or west-east directions of a geomagnetic
field sensor.
Claim 12
Independent Claim
21 words
A method of any of claims 1 to 9, wherein said reference
directions are directions produced by geostabilized reference direction
sensors.
Claim 13
Independent Claim
23 words
A method of any of claims 1 to 9, wherein said reference
directions are directions produced by an external source of reference
directions.
Claim 14
Independent Claim
40 words
A method of any of claims 1 to 9, wherein said reference
direction determining means is at least one pair of spaced apart
absolute coordinate sensors, said pair being disposed on at least one
of the user's locomotor system segments.
Claim 15
Independent Claim
37 words
A method of any of claims 4 to 14, wherein said linear
dimensions of the user's locomotor system segments are specified on
the basis of known proportions of a human body, using data of the
user's height.
Claim 16
Independent Claim
32 words
A method of any of claims 4 to 15, wherein said linear
dimensions of the user's locomotor system segments are scaled for
appropriately altering the user's dimensions relative to the displayed
environment.
Claim 17
Independent Claim
64 words
A method of any of claims 4 to 16, wherein, in the case of
employing a manipulator to provide user's interaction with virtual
environment objects, a position of the manipulator is determined on
the basis of a position of the user's hand holding the manipulator,
while an accurate orientation of the manipulator is determined using
supplementary reference direction determining means disposed on the
manipulator.
Claim 18
Independent Claim
38 words
A method of any of preceding claims, wherein said basic
junctions between the user's locomotor system segments are preferably
selected from a hip joint, knee joints, mortis joints, shoulder joints,
elbow joints, wrist joints, and a spine junction.
Claim 19
Dependent Claim
16 words
A method of claim 18, wherein said basic junctions are also
foot joints and finger joints.
Claim 20
Independent Claim
149 words
A system for tracking a user's position and orientation in
space, comprising a plurality of movement parameter sensors disposed
on user's body parts, converting means for converting sensor signals
into a required presentation form, a measured data processing unit
having an input coupled to an output of the converting means, and a
user's spatial position and orientation displaying unit connected to the
measured data processing unit, characterized in that said system
further comprises: reference direction determining means disposed on at least one
of user's locomotor system segments; a polling unit having poll channels connected to the movement
parameter sensors and the reference direction determining means, an
output of the polling unit being connected to an input of the
converting means, the movement parameter sensors being relative
rotation angle sensors disposed in the immediate vicinity of the basic
junctions between user's locomotor system segments or on the
segments as such.
Claim 21
Dependent Claim
37 words
A system of claim 20, further comprising at least one means
for user's interaction with virtual environment objects, on which
disposed is a supplementary reference direction determining means
connected through a poll channel with the polling unit.
Claim 22
Dependent Claim
17 words
A system of claim 20 or 21, wherein said relative rotation
angle sensor is a strain gage.
Claim 23
Dependent Claim
18 words
A system of claim 20 or 21, wherein said relative rotation
angle sensor is a fiber optics sensor.
Claim 24
Independent Claim
20 words
A system of any of claims 20 to 23, wherein said reference
direction determining means comprises a geomagnetic field sensor.
Claim 25
Dependent Claim
17 words
A system of claim 24, wherein said reference direction
determining means further comprises a local vertical sensor.
Claim 26
Dependent Claim
14 words
A system of claim 25, wherein said local vertical sensor is a
gravitation sensor.
Claim 27
Independent Claim
24 words
A system of any of claims 20 to 23, wherein said reference
direction determining means comprises an artificial external source
reference direction signal sensor.
Claim 28
Independent Claim
45 words
A system of any of claims 20 to 27, further comprising
storage means for storing the converted measured data for
subsequently displaying the user's position and orientation in space,
said storage means being connected through a data communication bus
to the measured data processing unit.
Claim 29
Independent Claim
47 words
A system of any of claims 20 to 28, further comprising means
for inputting optional data for constructing a mathematical simulation
of a three-dimensional environment and a mathematical simulation of
the user displayed therein, said optional data inputting means being
connected to the measured data processing unit.
Claim 30
Independent Claim
57 words
A system of any of claims 20 to 29, further comprising an
image generating unit for generating an image at a required angle of
view and editing the image, having an input connected to an output of
the measured data processing unit, and an output connected to an
input the user's spatial position and orientation displaying unit.
Claim 31
Independent Claim
274 words
A method for presenting virtual environment to a user in
response to user's movements in real environment, including
determining parameters of displacements of user's body parts,
converting the obtained data into a required presentation form and
processing a set of the converted data to determine a virtual
environment region to be displayed to the user in response to user's
position and orientation, taking into account user's interaction with
virtual environment objects, said method characterized by the steps of: a) attaching, proximate each of basic junctions of user's
locomotor system segments, means for determining at least one angle
between segments adjacent to a respective junction; b) specifying linear dimensions of the user's locomotor system
segments; c) locating reference direction determining means on at least one
of the user's locomotor system segments; d) determining an orientation of the at least one segment on
which said reference direction determining means is disposed relative
to said reference directions; e) determining angles between segments adjacent to said basic
junctions; f) determining a position and orientation in space of the user in
general on the basis of the obtained angle values and the orientation of
the at least one segment on which said reference direction determining
means is disposed; g) determining a bearing segment or segments of the user's
locomotor system; h) positioning said bearing segment or segments relative to a
support in the virtual environment displayed; i) determining a position and orientation of the user's head in the
virtual environment to determine the user's field of view in the virtual
environment; j) generating and presenting a virtual environment region
corresponding to the user's field of view to the user.
Claim 32
Dependent Claim
34 words
A method of claim 31, wherein said steps from d) to j) are
repeated to display virtual environment changes in real time in
response to the user's movements and interaction with virtual
environment objects.
Claim 33
Dependent Claim
19 words
A method of claim 31, wherein sequences of the user's
position and orientation data are recorded for subsequent use.
Claim 34
Independent Claim
29 words
A method of any of claims 31 to 33, wherein said reference
directions are north-south directions of a geomagnetic field sensor and
a direction of a local vertical sensor.
Claim 35
Independent Claim
23 words
A method of any of claims 31 to 33, wherein said reference
directions are north-south or west-east directions of a geomagnetic
field sensor.
Claim 36
Independent Claim
21 words
A method of any of claims 31 to 33, wherein said reference
directions are directions produced by geostabilized reference direction
sensors.
Claim 37
Independent Claim
23 words
A method of any of claims 31 to 33, wherein said reference
directions are directions produced by an external source of reference
directions.
Claim 38
Independent Claim
40 words
A method of any of claims 31 to 33, wherein said reference
direction determining means is at least one pair of spaced apart
absolute coordinate sensors, said pair being disposed on at least one
of the user's locomotor system segments.
Claim 39
Independent Claim
37 words
A method of any of claims 31 to 38, wherein said linear
dimensions of the user's locomotor system segments are specified on
the basis of known proportions of a human body, using data of the
user's height.
Claim 40
Independent Claim
32 words
A method of any of claims 31 to 39, wherein said linear
dimensions of the user's locomotor system segments are scaled for
appropriately altering the user's dimensions relative to the displayed
environment.
Claim 41
Independent Claim
64 words
A method of any of claims 31 to 40, wherein in the case of
using a manipulator to provide user's interaction with virtual
environment objects, a position of the manipulator is determined on
the basis of a position of the user's hand holding the manipulator,
while an accurate orientation of the manipulator is determined using
supplementary reference direction determining means disposed on the
manipulator.
Claim 42
Independent Claim
47 words
A method of any of claims 31 to 41, wherein said basic
junctions between the user's locomotor system segments are selected
from a hip joint, knee joints, mortis joints, shoulder joints, elbow
joints, wrist joints, and junctions between head and shoulders, and
between thoracic and lumbar spines.
Claim 43
Dependent Claim
16 words
A method of claim 42, wherein said basic junctions are also
foot joints and finger joints.
Claim 44
Independent Claim
246 words
A system for presenting virtual environment to a user moving
in real environment, comprising virtual environment image displaying
means, means for producing a signal indicative of the direction of the
user's field of view, means for producing a signal of a virtual
environment image corresponding to the user's field of view, having an
input connected to an output of said means for producing a signal
indicative of the direction of the user's field of view, and an output
connected to an input of the virtual environment image displaying
means, said system characterized in that said means for producing a
signal indicative of the direction of the user's field of view further
comprises: means for determining at least one angle between user's
locomotor system segments adjacent to an appropriate junction of said
segments; reference direction determining means disposed on at least one
of the user's locomotor system segments; analogue-to-digit conversion means having inputs connected to
outputs of said means for determining angles between the user's
locomotor system segments and said reference direction determining
means; a unit for constructing a simulation of a three-dimensional
environment and the user within it, having an input connected to an
output of said analogue-to-digit conversion means; and a user's field of view determining unit having an input connected
to an output of said unit for constructing a mathematical simulation
of a three-dimensional environment and the user, and an output
connected to an input of said means for producing virtual environment
image signals.
Claim 45
Dependent Claim
15 words
A system of claim 44, wherein said relative rotation angle
sensor is a strain gage.
Claim 46
Dependent Claim
16 words
A system of claim 44, wherein said relative rotation angle
sensor is a fiber optics sensor.
Claim 47
Independent Claim
25 words
A system of any of claims 44 to 46, wherein said reference
direction determining means is a geomagnetic field sensor and a local
vertical sensor.
Claim 48
Dependent Claim
14 words
A system of claim 47, wherein said local vertical sensor is a
gravitation sensor.
Claim 49
Independent Claim
21 words
A system of any of claims 44 to 46, wherein said reference
direction determining means is a gyro-stabilized reference direction
sensor.
Claim 50
Independent Claim
23 words
A system of any of claims 44 to 46, wherein said reference
direction determining means comprises an external source reference
direction signal sensor.
Claim 51
Independent Claim
63 words
A system of any of claims 44 to 50, wherein in the case of
using a manipulator for user's interaction with objects of real or
virtual environment displayed, the use is made of a supplementary
reference direction determining means disposed on the manipulator,
an output of said supplementary reference direction determining means
being connected to a respective input of said analogue-to-digit
conversion means.
Claim 52
Independent Claim
27 words
A system of any of claims 44 to 51, further comprising a
long-term memory unit having an input connected to an output of said
analogue-to-digit conversion means.
References Cited (Backward Citations)
No citation records indexed.
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