US5889505A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Vision-based six-degree-of-freedom computer input device
Assignee: Yale University
•
Filing: 1997-03-03
•
Granted: 1999-03-30
•
Expires: 2017-03-03
Abstract
Abstract A vision-based controller provides translational and rotational control signals to a computer or other input driven device. The controller includes a tracked object, positioned in space and having at least a first reference point and a second reference point. The tracked object is capable of three dimensional rotational and translational movement. At least one imaging device, positioned at a distance from the tracked object, generates an image of the tracked object, at plural succeeding times. A processor unit receives the image, comprised of pixel values, from the imaging device; identifies pixels corresponding to a current center of the tracked object, the first reference point and the second reference point; determines a current dimension (i.e., size or radius) of the tracked object; calculates a translational and rotational displacement of the tracked object based on the above information; and generates control signals in accordance with the transitional and rotational displacement.
Inventors
- 👤 Kentaro Toyama
- 👤 Gregory Donald Hager
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 16:40
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/03; G06F3/0304; G06F3/0325; G06F3/033; G06F3/0346; G06T; G06T7/00; G06T7/20; G06T7/246
Claims Analysis
Total Claims: 19
Claim 1
Independent Claim
159 words
A vision-based controller for providing translational and rotational control data for use by a computer or other input driven device, comprising: a tracked object, positioned in space and having at least a first reference point and a second reference point, said tracking object capable of three dimensional rotational and translational movement, each reference point having different characteristics, at least one imaging means, positioned at a distance from said tracked object, for generating an image of said tracked object at plural times, each image comprising pixel values, and processor means, responsive to said pixel values from said imaging means, for: (a) identifying pixels corresponding to a current center of said tracked object, said first reference point and said second reference point and determining a current dimension of said tracked object; (b) calculating a translational and rotational displacement of said tracked object based on information ascertained in (a), and (c) generating control data in accordance with said transitional and rotational displacement.
Claim 2
Dependent Claim
159 words
A vision-based controller for providing translational and rotational control data for use by a computer or other input driven device, comprising: a tracked object, positioned in space and having at least a first reference point and a second reference point, said tracking object capable of three dimensional rotational and translational movement, each reference point having different characteristics, at least one imaging means, positioned at a distance from said tracked object, for generating an image of said tracked object at plural times, each image comprising pixel values, and processor means, responsive to said pixel values from said imaging means, for: (a) identifying pixels corresponding to a current center of said tracked object, said first reference point and said second reference point and determining a current dimension of said tracked object; (b) calculating a translational and rotational displacement of said tracked object based on information ascertained in (a), and (c) generating control data in accordance with said transitional and rotational displacement.
Claim 3
Dependent Claim
19 words
A controller as recited in claim 1, wherein each of said reference points is distinguished by a different color.
Claim 4
Dependent Claim
45 words
A controller as recited in claim 1, wherein said tracked object has multiple reference points systematically positioned thereon, said controller further comprising multiple imaging means, positioned at a distance from respective reference points, for generating image information corresponding to different perspectives of said tracked object.
Claim 5
Dependent Claim
22 words
A controller as recited in claim 1, wherein said tracked object further includes input means for receiving an input from a user.
Claim 6
Dependent Claim
33 words
A controller as recited in claim 4, wherein said input means, responsive to a user input, causes a distinguishable mark having a particular size, shape or color to appear on said tracked object.
Claim 7
Dependent Claim
24 words
A controller as recited in claim 5, wherein said processor means generates a control signal in response to a detection of said distinguishable mark.
Claim 8
Dependent Claim
14 words
A controller as recited in claim 1, wherein said tracked object is a ball.
Claim 9
Dependent Claim
17 words
A controller as recited in claim 7, wherein said ball has a diameter of approximately 8 centimeters.
Claim 10
Dependent Claim
27 words
A controller as recited in claim 1, wherein said first reference point and said second reference point are two dots, each having a diameter of 8 millimeters.
Claim 11
Dependent Claim
23 words
A controller as recited in claim 9, wherein a distance between said first reference point and said second reference point is 10 millimeters.
Claim 12
Dependent Claim
22 words
A controller as recited in claim 1, wherein said imaging means is a digital camera for generating images of said tracked object.
Claim 13
Dependent Claim
27 words
A controller as recited in claim 1, wherein said imaging means includes an analog camera and a frame grabber for digitizing analog outputs from said analog camera.
Claim 14
Dependent Claim
27 words
A controller as recited in claim 1, wherein said tracked object is suspended in space by elastic bands coupled between said tracked object and a supporting structure.
Claim 15
Dependent Claim
25 words
A controller as recited in claim 1, wherein said control data relates to translational and rotational data associated with a movement of said tracked object.
Claim 16
Dependent Claim
23 words
A controller as recited in claim 1, wherein said control data relates to velocity data associated with a movement of said tracked object.
Claim 17
Dependent Claim
29 words
A controller as recited in claim 1, wherein said current dimension of said tracked object is a variance of the coordinates of all pixels corresponding to said tracked object.
Claim 18
Dependent Claim
29 words
A controller as recited in claim 16, wherein said processor means determines a rotational and translational displacement along an axis of said imaging means based on said current dimension.
Claim 19
Dependent Claim
19 words
A controller as recited in claim 17, wherein said current dimension relates to a radius of said tracked object.
References Cited (Backward Citations)
US4811608A
Cited
US5222400A
Cited
US5579444A
Cited
US4891630A
Cited
US5146566A
Cited
US5335557A
Cited
US5809161A
Cited
US5297061A
Cited
US5587929A
Cited
US5703961A
Cited
US5802220A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-03-29 | 2002-09-28 | 2003-03-30 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-03-29 | 2006-09-28 | 2007-03-30 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-03-29 | 2010-09-28 | 2011-03-30 | $7700.00 | Window Closed / Lapsed |