US5786804A — Method and system for tracking attitude

Claim 1

Independent Claim 164 words

A method of tracking attitude of a device comprising the steps of: fixing a two-dimensional array of photosensors to said device; attaching an optical means to said device to image features of an environment onto said photosensors; utilizing said two-dimensional array to acquire a first image of features within a field of view of said array; storing said first image; utilizing said two-dimensional array to acquire a second image of features within said field of view at a time subsequent to acquiring said first image, said first and second images being images of regions that are largely overlapping such that there are features common to both of said first and second images; correlating said first and second images to detect differences in location of said common features within said first and second images; and based upon said step of correlating, forming an attitudinal signal indicative of any changes in angular orientation of said device during an interval between acquiring said first and second images.

Claim 2

Independent Claim 164 words

A method of tracking attitude of a device comprising the steps of: fixing a two-dimensional array of photosensors to said device; attaching an optical means to said device to image features of an environment onto said photosensors; utilizing said two-dimensional array to acquire a first image of features within a field of view of said array; storing said first image; utilizing said two-dimensional array to acquire a second image of features within said field of view at a time subsequent to acquiring said first image, said first and second images being images of regions that are largely overlapping such that there are features common to both of said first and second images; correlating said first and second images to detect differences in location of said common features within said first and second images; and based upon said step of correlating, forming an attitudinal signal indicative of any changes in angular orientation of said device during an interval between acquiring said first and second images.

Claim 3

Dependent Claim 25 words

The method of claim 1 further comprising a step of controlling location of a cursor on a display screen in response to said attitudinal signal.

Claim 4

Dependent Claim 30 words

The method of claim 2 wherein said step of controlling location of said cursor includes transmitting said attitudinal signal from said device to a remote receiver in a wireless manner.

Claim 5

Dependent Claim 24 words

The method of claim 1 wherein said step of fixing said two-dimensional array is a step of attaching said array to a hand-holdable member.

Claim 6

Dependent Claim 38 words

The method of claim 1 wherein said step in which said first image is acquired is a step including defining a reference frame for correlation with a sequence of sample frames for determining said changes in angular orientation.

Claim 7

Dependent Claim 13 words

The method of claim 1 further comprising nominally focusing said photoelements at infinity.

Claim 8

Dependent Claim 33 words

The method of claim 3 wherein said steps that include acquiring first and second images are steps of forming image data of a region of an environment in which said display screen resides.

Claim 9

Dependent Claim 34 words

The method of claim 7 further comprising periodically acquiring sample images and correlating each sample image to an earlier acquired image to detect differences in location of said common features within said sample images.

Claim 10

Independent Claim 153 words

A system for tracking attitude comprising: a housing; a two-dimensional array of photosensors fixed to said housing for forming images of features; storage means connected to said array for storing a reference frame of pixel values in which each pixel value is indicative of light energy received at a particular photosensor at a specific time; correlation means connected to said array and to said storage means for correlating an arrangement of said pixel values of said reference frame with at least one sample frame of pixel values formed in response to light energy received at said array subsequent to said specific time; and computing means, responsive to detection of correlations by said correlation means, for generating an attitudinal signal representing pitch and yaw of pixel values of said at least one sample frame relative to said pixel values of said reference frame, said attitudinal signal thereby representing pitch and yaw of said housing.

Claim 11

Independent Claim 153 words

A system for tracking attitude comprising: a housing; a two-dimensional array of photosensors fixed to said housing for forming images of features; storage means connected to said array for storing a reference frame of pixel values in which each pixel value is indicative of light energy received at a particular photosensor at a specific time; correlation means connected to said array and to said storage means for correlating an arrangement of said pixel values of said reference frame with at least one sample frame of pixel values formed in response to light energy received at said array subsequent to said specific time; and computing means, responsive to detection of correlations by said correlation means, for generating an attitudinal signal representing pitch and yaw of pixel values of said at least one sample frame relative to said pixel values of said reference frame, said attitudinal signal thereby representing pitch and yaw of said housing.

Claim 12

Dependent Claim 11 words

The system of claim 9 wherein said housing is hand holdable.

Claim 13

Dependent Claim 33 words

The system of claim 10 further comprising a video display and a demodulator means connected to receive said attitudinal signal for forming a cursor-control signal for maneuvering a cursor of said video display.

Claim 14

Dependent Claim 20 words

The system of claim 11 further comprising transmission means connected for wirelessly transmitting said cursor-control signal to said video display.

Claim 15

Dependent Claim 33 words

The system of claim 9 further comprising optical means for nominally focusing said array at infinity, said array having arcuate edges having curvatures selected to compensate for distortions induced by said optical means.

Claim 16

Independent Claim 120 words

A method of controlling movement of a cursor of a video display comprising steps of: providing a hand-holdable device having a two-dimensional array of photosensors; tracking movement of said device relative to a region of an environment in which said device resides, including substeps of: (a) periodically forming largely overlapping images of a field of view of said array; (b) storing a first image as a reference image; (c) correlating said images such that changes in location of characteristics of said region within successive images are computationally recognized; in response to said substeps (a), (b) and (c), forming a cursor-control signal that corresponds to computational recognition of said changes in location; and transmitting said cursor-control signal to said video display.

Claim 17

Independent Claim 120 words

A method of controlling movement of a cursor of a video display comprising steps of: providing a hand-holdable device having a two-dimensional array of photosensors; tracking movement of said device relative to a region of an environment in which said device resides, including substeps of: (a) periodically forming largely overlapping images of a field of view of said array; (b) storing a first image as a reference image; (c) correlating said images such that changes in location of characteristics of said region within successive images are computationally recognized; in response to said substeps (a), (b) and (c), forming a cursor-control signal that corresponds to computational recognition of said changes in location; and transmitting said cursor-control signal to said video display.

Claim 18

Dependent Claim 27 words

The method of claim 14 wherein said substep of correlating is a step including forming an attitudinal signal representative of pitch and yaw of said hand-holdable device.

Claim 19

Dependent Claim 25 words

The method of claim 14 wherein said step of transmitting said cursor-control signal includes transmitting said signal in a wireless manner to said video display.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2001-07-27	2002-01-26	2002-07-28	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2005-07-27	2006-01-26	2006-07-28	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2009-07-27	2010-01-26	2010-07-28	$7700.00	Window Closed / Lapsed

Method and system for tracking attitude

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