Patent Grant
8907893
The disclosed embodiments relate generally to detecting performance of a rolling gesture using a multi-dimensional pointing device and conveying a corresponding rolling gesture metric to a host system.
A pointing device (e.g., a mouse, a trackball, etc.) may be used to interact with objects within a user interface of a computer system or other electronic devices (e.g., a set top box, etc.). Existing pointing devices offer a limited set of user interface operations. For example, a mouse is typically moved across a flat surface to produce translational movement (e.g., in the x and y directions) of objects in the user interface of a computer system. Another type of pointing device is a free space pointer. The free space pointer is typically moved in three dimensions. However, like the mouse, the free space pointer is limited to producing translational movement of objects in the user interface of the computer system, for example by pointing to an object and then moving the pointer to indicate a new position to which the object is to be moved.
Some embodiments provide a system, a computer readable storage medium including instructions, and a computer-implemented method for detecting performance of a rolling gesture using a multi-dimensional pointing device. An initiation of a gesture by a user of the multi-dimensional pointing device is detected. A rolling gesture metric corresponding to performance of a rolling gesture comprising rotation of the multi-dimensional pointing device about a longitudinal axis of the multi-dimensional pointing device is determined. Information corresponding to the rolling gesture metric is conveyed to a client computer system, wherein the client computer system is configured to manipulate an object in a user interface of the client computer system in accordance with the rolling gesture metric.
In some embodiments, the initiation of the gesture by the user of the multi-dimensional pointing device is detected by detecting the pressing of a button on the multi-dimensional pointing device.
In some embodiments, the button is selected from the group consisting of a volume button, a channel button, a video input button, an audio input button, and a gesture button.
In some embodiments, the rolling gesture metric corresponds to a change in attitude of the pointing device upon initiation of the rolling gesture.
In some embodiments, the rolling gesture metric is selected from the group consisting of a roll angle, a roll rate, a roll acceleration (i.e., a time derivative of the roll rate), and a predefined combination of two or more of the roll angle, roll rate and roll acceleration.
In some embodiments, the corresponding rolling gesture metric is determined as follows. A change in attitude of the multi-dimensional pointing device, corresponding to rotation about a longitudinal axis of the multi-dimensional pointing device, is calculated based on one or more accelerometer measurements from one or more multi-dimensional accelerometers of the multi-dimensional pointing device and one or more magnetic field measurements from one or more multi-dimensional magnetometers of the multi-dimensional pointing device. The rolling gesture metric is then calculated based on the change in attitude of the multi-dimensional pointing device.
In some embodiments, the corresponding rolling gesture metric is determined as follows. A change in attitude of the multi-dimensional pointing device is calculated based on one or more accelerometer measurements from one or more multi-dimensional accelerometers of the multi-dimensional pointing device and one or more magnetic field measurements from one or more multi-dimensional magnetometers of the multi-dimensional pointing device. It is then determined that the multi-dimensional pointing device is undergoing a rotation about a longitudinal axis of the multi-dimensional pointing device based on the change in attitude of the multi-dimensional pointing device. The rolling gesture metric is then calculated based on the change in attitude of the multi-dimensional pointing device.
In some embodiments, the rolling gesture is mapped to a scrolling operating that is performed on the object in the user interface of the client computer system. For example, the object on which the scrolling operation is performed may be selected from the group consisting of a web page, a document, and a list.
In some embodiments, the rolling gesture is mapped to a rotation operation that is performed on the object in the user interface of the client computer system. For example, the object on which the rotation operation is performed may be selected from the group consisting of a dial, a photograph, and a page of a document.
In some embodiments, the rolling gesture metric is mapped to a number of clicks of a mouse wheel over a time interval.
In some embodiments, detecting initiation of the gesture includes receiving a message from the client computer system that indicates that the user of the multi-dimensional pointing device selected a user interface element (e.g., a menu item, an icon, etc.) in the user interface of the client computer system that initiates the detection of gestures.
Like reference numerals refer to corresponding parts throughout the drawings.
Digital Convergence
Before discussing embodiments that can be used to solve the aforementioned problems, it is instructive to discuss the possible uses of the embodiments described herein. The idea of “digital convergence” has been a prevalent pursuit for many years. One aspect of “digital convergence” is making content (e.g., digital content) available to a user on any type of display device. The struggle towards digital convergence is particularly acute among personal computer (PC) manufacturers, broadband media providers, and consumer electronics (CE) manufacturers.
CE manufacturers and broadband media providers have experienced the effects of the rise of Internet-distributed content (e.g., digital movie and music downloads, etc.), which have diverted consumers from their products and services. Accordingly, consumers spend more time in front of their personal computers (PCs). Digital convergence may allow CE manufacturers and broadband media providers to recapture consumer attention by routing content consumption through their domains (e.g., cable and satellite transmissions to a television set).
Unfortunately, one substantial hurdle to digital convergence is the lack of an advanced user interface for the television set (or other CE devices). Although high-definition television (HDTV) has increased the resolution of the television programs displayed, the remote control of a television set or a cable/satellite set-top box (STB) remains archaic: including a numeric keypad, up/down/left/right arrows, and a large number of predefined function keys. This lack of an advanced user interface makes the PC a logical venue for interactive content.
Digital convergence may redefine the role of the television set. Instead of just providing multimedia content for passive consumption, the television set may be a center of interactivity, providing access to photos, movies, music, games, phone calls, video conferences, etc. However, to facilitate the goal of digital convergence, an advanced user interface must be provided for the television set. Accordingly, the simple remote controller for existing television sets must be replaced with a device that can interact with the advanced user interface. Furthermore, the remote controller must remain cost-effective (e.g., less than $10), must have long battery life, and must be responsive to user input.
Multi-Dimensional Pointing Device
A multi-dimensional pointing device may be used to interact with advanced user interfaces that are needed to achieve digital convergence.
In some embodiments, the wireless interface is selected from the group consisting of: a Wi-Fi interface, a Bluetooth interface, an infrared interface, an audio interface, a visible light interface, a radio frequency (RF) interface, and any combination of the aforementioned wireless interfaces.
In some embodiments, data (e.g., raw measurements, calculated attitude, correction factors, position information, etc.) from the multi-dimensional pointing device 102 is received and processed by a host side device driver on the host system 101. The host system 101 can then use this data to position cursors, objects, etc., in the user interface of the host system 101.
In some embodiments, the wireless interface is a unidirectional wireless interface from the multi-dimensional pointing device to the host system 101. In some embodiments, the wireless interface is a bidirectional wireless interface. In some embodiments, bidirectional communication is used to perform handshaking and pairing operations.
In some embodiments, a wired interface can be used instead of a wireless interface. As with the wireless interface, the wired interface may be a unidirectional or bidirectional wired interface.
As mentioned above, the act of moving a multi-dimensional pointing device around creates accelerations and decelerations that may cause conventional attitude-determination techniques to fail. Specifically, consider a device that includes a single multi-dimensional magnetometer (e.g., a tri-axial magnetometer) and a single multi-dimensional accelerometer (e.g., a tri-axial accelerometer), which is subject to dynamic acceleration. Note that the term “dynamic acceleration” refers to acceleration and/or deceleration (e.g., accelerations/decelerations during movement of the device). Applying the TRIAD technique to magnetic field measurements from a single multi-dimensional magnetometer and acceleration measurements from a single multi-dimensional accelerometer results in attitude measurements that include errors. The errors arise because the TRIAD technique depends on a constant relationship between the Earth's magnetic field and gravity. Consequently, the TRIAD technique only produces correct attitude measurements when the device is not undergoing dynamic acceleration (e.g., at rest or at constant velocity). If the device is being accelerated, the acceleration measurement includes a combination of gravity and the acceleration imparted by movements of the device. Using this acceleration measurement to represent the Earth's gravity produces substantial errors in the computed attitude. These problems are described in more detail with respect to
One solution is to use a multi-dimensional pointing device that includes a gyroscope (e.g., a MEMS gyroscope). However, the physics of the gyroscopes can cause artifacts. For example, these types of multi-dimensional pointing devices can drift when the device is held in a stationary position. Furthermore, these multi-dimensional pointing devices can require substantial force before the device produces a reaction in the user interface.
Thus, to solve the aforementioned problems, some embodiments use magnetic field measurements from one or more multi-dimensional magnetometers and acceleration measurements from two or more multi-dimensional accelerometers that are included in a multi-dimensional pointing device to calculate the attitude of the device. In these embodiments, the calculated attitude of the multi-dimensional pointing device is compensated for errors that would otherwise be caused by dynamic acceleration. In some embodiments, the multi-dimensional accelerometers are placed a specified distance apart in a rigid frame (e.g., a printed circuit board on the device). When the multi-dimensional pointing is rotated, the multi-dimensional accelerometers experience different accelerations due to their different radiuses of rotation. Note that when the frame is moved in translation (e.g., without rotation), all the accelerometers experience the same acceleration. It is then possible to use the differences in the accelerometer readings to distinguish between user movement (e.g., dynamic acceleration) and the acceleration caused by Earth's gravity to correctly estimate the attitude of the device.
In some embodiments, the two or more multi-dimensional accelerometers 201-202 are selected from the group consisting of: a 2-axis accelerometer that measures a magnitude and a direction of an acceleration force in two dimensions and a 3-axis accelerometer that measures a magnitude and a direction of an acceleration force in three dimensions.
In some embodiments, the one or more multi-dimensional magnetometers 203 are selected from the group consisting of: a 2-axis magnetometer that measures a magnitude and a direction of a magnetic field in two dimensions and a 3-axis magnetometer that measures a magnitude and a direction of a magnetic field in three dimensions.
In some embodiments, the multi-dimensional pointing device 200 also includes one or more of the following additional user interface components: a keypad, one or more thumb wheels, one or more light-emitting diodes (LEDs), a audio speaker, an audio microphone, a liquid crystal display (LCD), etc.
In some embodiments, the multi-dimensional pointing device 200 includes one or more processors (CPU(s), e.g., 1102,
In some embodiments, the one or more processors of the multi-dimensional pointing device 200 perform one or more of the following operations: sampling measurement values, at a respective sampling rate, produced by each of the multi-dimensional accelerometers 201-202 and the multi-dimensional magnetometers 203; processing sampled data to determine displacement; transmitting displacement information to the host system 101; monitoring the battery voltage and alerting the host system 101 when the charge of the battery is low; monitoring other user input devices (e.g., keypads, buttons, etc.), if any, on the multi-dimensional pointing device 200; continuously or periodically run background processes to maintain or update calibration of the multi-dimensional accelerometers 201-202 and the multi-dimensional magnetometers 203; provide feedback to the user as needed on the remote (e.g., via LEDs, etc.); and recognizing gestures performed by user movement of the multi-dimensional pointing device 200.
Software Architecture
The software architecture 300 also includes an operating system (e.g., OpenCable Application Platform (OCAP), Windows, Linux, etc.) 310, which includes an execution engine (or virtual machine) 311 that executes applications, an optional API 312 for communicating with a multi-dimensional pointing device that does not conform to a human interface standard implemented in the operating system 310, middleware 313 that provides management of the resources of the host system 101 (e.g., allocation of memory, access to access hardware, etc.) and services that connect software components and/or applications, respectively, and host device drivers 314. In some embodiments, the host device drivers 314 adjust the gain of the multi-dimensional pointing device 102 based on the resolution and/or aspect ratio of the display of the host system 101, translates physical movement of the multi-dimensional pointing device 102 to movement of a cursor (or an object) within the user interface of the host system 101, allows host applications to adjust cursor movement sensitivity, and/or reports hardware errors (e.g., a battery low condition, etc.) to the middleware 313.
In some embodiments, the multi-dimensional pointing device 102 periodically samples its sensors. The multi-dimensional pointing device 102 may also periodically provide the sampled sensor data to the host system 101 at a respective update rate. To reduce power consumption caused by transmitting data to the host system 101, the update rate may be set at a substantially smaller rate than the sampling rate. Note that the minimum update rate may be governed by the frame rate of the display of the host system (e.g., 25 Hz in Europe and 30 Hz in the United States and Asia). Note that there may be no perceivable advantage in providing faster updates than the frame rate except when the transmission media is lossy.
In some embodiments, the multi-dimensional pointing device 102 uses digital signal processing techniques. Thus, the sampling rate must be set high enough to avoid aliasing errors. Movements typically occur at or below 10 Hz, but AC power can create ambient magnetic field fluctuations at 50-60 Hz that can be picked up by a magnetometer. For example, to make sure there is sufficient attenuation above 10 Hz, the multi-dimensional pointing device 102 may use a 100 Hz sampling rate and a 50 Hz update rate.
In some embodiments, the multi-dimensional pointing device 102 reports raw acceleration and magnetic field measurements to the host system 101. In these embodiments, the host device drivers 314 calculate lateral and/or angular displacements based on the measurements. The lateral and/or angular displacements are then translated to cursor movements based on the size and/or the resolution of the display of the host system 101. In some embodiments, the host device drivers 314 use a discrete representation of angular displacement to perform sampling rate conversion to smoothly convert from the physical resolution of the multi-dimensional pointing device 102 (e.g., the resolution of the accelerometers and/or the magnetometers) to the resolution of the display.
In some embodiments, the host device drivers 314 interpret a sequence of movements (e.g., changes in attitude, displacements, etc.) as a gesture. For example, the user 103 may use the multi-dimensional pointing device 102 to move a cursor in a user interface of the host system 101 so that the cursor points to a dial on the display of the host system 101. The user 103 can then select the dial (e.g., by pressing a button on the multi-dimensional pointing device 102) and turn the multi-dimensional pointing device 102 clockwise or counter-clockwise (e.g., roll) to activate a virtual knob that changes the brightness, contrast, volume, etc., of a television set. Thus, the user 103 may use a combination or sequence of keypad presses and pointing device movements to convey commands to the host system. Similarly, the user 103 may use a twist of a wrist to select the corner of a selected image (or video) for sizing purposes. Note that the corner of an image may be close to another active object. Thus, selecting the image may require careful manipulation of the multi-dimensional pointing device 102 and could be a tiresome exercise. In these cases, using a roll movement as a context sensitive select button may reduce the accuracy users need to maintain with the movement of the multi-dimensional pointing device 102.
In some embodiments, the multi-dimensional pointing device 102 computes the physical displacement of the device and transmits the physical displacement of the device to the host system 101. The host device drivers 314 interpret the displacement as cursor movements and/or gestures. Thus, the host device drivers 314 can be periodically updated with new gestures and/or commands to improve user experience without having to update the firmware in the multi-dimensional pointing device 102.
In some other embodiments, the multi-dimensional pointing device 102 computes the physical displacement of the device and interprets the displacements as cursor movements and/or gestures. The determined cursor movements and/or gestures are then transmitted to the host system 101.
In some embodiments, the multi-dimensional pointing device 102 reports its physical spatial (e.g., lateral and/or angular) displacements based on a fixed spatial resolution to the host system 101. The host device drivers 314 interpret the distance and/or angle traversed into appropriate cursor movements based on the size of the display and/or the resolution of the display. These calculated displacements are then translated into cursor movements in the user interface of the host system 101.
Although the multi-dimensional pointing device 102 may provide data (e.g., position/displacement information, raw measurements, etc.) to the host system 101 at a rate greater than the frame rate of a display of the host system 101, the host device drivers 314 needs to be robust enough to accommodate situations where packet transmission fails. In some embodiments, each packet received from the multi-dimensional pointing device 102 is time stamped so that the host device drivers 314 can extrapolate or interpolate missing data. This time stamp information may also be used for gesture recognition to compensate for a lossy transmission media.
In some embodiments, the multi-dimensional pointing device 102 omits packets to conserve power and/or bandwidth. In some embodiments, the multi-dimensional pointing device 102 omits packets to conserve power and/or bandwidth only if it is determined that the host device drivers 314 can recreate the lost packets with minimal error. For example, the multi-dimensional pointing device 102 may determine that packets may be omitted if the same extrapolation algorithm is running on the host system 101 and on the multi-dimensional pointing device 102. In these cases, the multi-dimensional pointing device 102 may compare the real coordinates against the extrapolated coordinates and omit the transmission of specified packets of data if the extrapolated coordinates and the real coordinates are substantially similar.
In some embodiments, the multi-dimensional pointing device 102 includes a plurality of buttons. The plurality of buttons allows users that prefer a conventional user interface (e.g., arrow keys, etc.) to continue using the conventional user interface. In these embodiments, the host device drivers 314 may need to interpret a combination of these buttons as a single event to be conveyed to the middleware 313 of the host system.
In some embodiments, the host device drivers 314 are configured so that the multi-dimensional pointing device 102 appears as a two-dimensional pointing device (e.g., mouse, trackpad, trackball, etc.).
In some embodiments, the sampled sensor measurements are packetized for transmission 407 and transmitted to the host system 101 by a transmitter 408.
In some embodiments, the sensors 401 are calibrated and corrected 403. For example, the sensors 401 may be calibrated and corrected so that a Kalman filter that is used to compute the attitude of a multi-dimensional pointing device (e.g., the multi-dimensional pointing device 102 in
The measurements from the sensors and the determined change in position and/or attitude may also be used to enter and/or exit sleep and wake-on-movement modes 409.
In some embodiments, the multi-dimensional pointing device 102 measures rotations of the remote over a physical space that is independent of the size, distance and direction of the display of the host system 101. In fact, the multi-dimensional pointing device 102 may report only displacements between two consecutive samples in time. Thus, the orientation of the multi-dimensional pointing device 102 does not matter. For example, yaw may be mapped to left/right cursor movement and pitch may be mapped to up/down cursor movements.
In some embodiments, to conserve system power, the multi-dimensional pointing device 102 detects a lack of movement of the multi-dimensional pointing device 102 and puts itself into a low power (e.g., sleep) mode. In some embodiments, a single accelerometer is used to sense whether the multi-dimensional pointing device 102 is being moved and to generate an interrupt to wake (e.g., wake-on-demand) the multi-dimensional pointing device 102 from the sleep mode.
In some embodiments, the multi-dimensional pointing device 102 determines that it should enter a sleep mode based on one or more of the following conditions: the magnitude of the acceleration measurement (e.g., Aobserved) is not greater or smaller than the magnitude of Earth's gravity (e.g., G) by a specified threshold, the standard deviation of Aobserved does not exceed a specified threshold, and/or there is an absence of change in the angular relationship between the measurement of the Earth's magnetic field (e.g., B) and Aobserved greater than a specified threshold. Each of the aforementioned conditions may be used to indicate that the multi-dimensional pointing device 102 has entered a resting state (e.g., no substantial movement). After the multi-dimensional pointing device 102 has remained in a resting state for a specified number of consecutive samples, the multi-dimensional pointing device 102 enters a sleep mode.
In some embodiments, the device-side firmware 400 of the multi-dimensional pointing device 102 is updated by the host system 101 via a wireless interface.
Some embodiments provide one or more games and/or demo applications that demonstrate how to use the multi-dimensional pointing device (e.g., movement, controlling objects in the user interface, gestures, etc.).
Calculating Attitude During Dynamic Acceleration
Before continuing with the discussion, it is instructive to define two terms: body frame and the Earth frame. The body frame is the coordinate system in which B and G are measured with respect to a fixed point on the multi-dimensional pointing device 102. The diagram 500 in
The Earth frame is the coordinate system in which B and G are measured with respect to a fixed point on the surface of the Earth. The Earth frame is typically the frame of reference for the user 103 of the multi-dimensional pointing device 102. When the user 103 moves the multi-dimensional pointing device 102, the user 103 typically thinks about the motion relative to the Earth frame.
Thus, the solution to the attitude of the multi-dimensional pointing device 102 can be formulated as follows: given two measurements of two constant vectors taken with respect to a body frame (of the multi-dimensional pointing device 102) that has undergone a rotation, solve for the rotation of the multi-dimensional pointing device 102 in the Earth frame.
There are a number of techniques can determine the attitude of the multi-dimensional pointing device 102. As discussed above, TRIAD is one such technique. Note that the following calculations may be formulated using Quaternion-based arithmetic to avoid issues with singularity associated with the TRIAD technique. The TRIAD technique operates as follows.
Given w1 and w2, which represent measurements (observations) of the B and G vectors in the body frame, the following are defined:
where, r1 is the normalized column vector w1, r2 is a normalized column vector orthogonal to r1 and w2, and r3 is a normalized column vector orthogonal to r1 and r2.
Correspondingly, B and G are also known in the Earth frame. However these measurements are known a-priori; that is, they do not need to be measured and may be calculated from well-known theoretical models of the earth. For example, the magnitude and direction of the earth's magnetic and gravitational fields in San Jose, Calif. can be calculated without making new measurements. Thus the measurements in the body frame may be compared relative to these known vectors. If we call the vectors representing B and G in the Earth frame v1 and v2, then we may define:
where s1 is the normalized column vector v1, s2 is a normalized column vector orthogonal to s1 and v2, and s3 is a normalized column vector orthogonal to s1 and s2.
Using the normalized column vectors defined above, the attitude matrix (A) that gives the rotational transform (e.g., for generating an uncorrected attitude of the multi-dimensional pointing device 200) in the Earth frame is:
A=R·ST (7)
where R=[r1|r2|r3] (e.g., a matrix comprised of the three column vectors r1, r2, and r3), S=[s1|s2|s3] (e.g., a matrix comprised of the three column vectors s1, s2, and s3), and the “T” superscript denotes the transpose of the matrix to which it is applied.
Applying to the problem at hand, if v1 and v2 are given as the B and G vectors in the Earth frame and w1 and w2 are inferred from measurements produced by the multi-dimensional accelerometers 201-202 and the multi-dimensional magnetometer 203, the TRIAD technique may be used to compute the uncorrected attitude A of the multi-dimensional pointing device 102.
As discussed above, the accuracy of the relative heading/attitude of the multi-dimensional pointing device 102 determined by the TRIAD technique is predicated on the assumption that the device is not subject to dynamic acceleration. This assumption does not hold true in multi-dimensional pointing applications, in which the user 103 makes continuous movements and/or gestures with the multi-dimensional pointing device 102.
In order to solve the aforementioned problems, some embodiments include two or more accelerometers to measure the dynamic acceleration that the multi-dimensional pointing device 102 experiences.
Dynamic acceleration experienced the multi-dimensional pointing device 701 may include translational acceleration imparted by lateral movement of the multi-dimensional pointing device 701 and rotational acceleration. When the multi-dimensional pointing device 701 is affected by translational acceleration, both multi-dimensional accelerometers 703-704 experience the same dynamic acceleration. When the device is affected by angular acceleration, the multi-dimensional accelerometers 703-704 experience dynamic acceleration proportional to their distance from the pivot origin 702.
For example, consider the case when the multi-dimensional pointing device 701 is pivoted about the pivot origin 702, causing the multi-dimensional accelerometers 703 and 704 to produce composite acceleration measurements AOBS 705 and AOBS 706. The composite acceleration measurement AOBS 705 is a vector sum of the acceleration caused by Earth's gravity (G 707) and the dynamic acceleration a experienced by the first multi-dimensional accelerometer 703 (A). The composite acceleration measurement AOBS 706 is a vector sum of the acceleration caused by Earth's gravity (G 707) and the dynamic acceleration b experienced by the second multi-dimensional accelerometer 704 (B). Note that since the multi-dimensional accelerometer 704 is farther from the pivot origin 702 than the multi-dimensional accelerometer 703, the acceleration due to the rotation about the pivot origin 702 is greater at the second multi-dimensional accelerometer 704 (B) than at the first multi-dimensional accelerometer 703 (A). AOBS 705 and AOBS 706 include errors 708 and 709, respectively.
The change in the attitude of the multi-dimensional pointing device 102 may be computed using measurements from both of the two multi-dimensional accelerometers 703-704. When the dynamic acceleration is entirely translational, the difference between the two computed attitudes is zero. In some embodiments, only rotational movement is translated into cursor movements. Thus, translational displacements do not result in translational cursor movement because purely translational movements do not affect yaw, pitch or roll. However, when the dynamic acceleration includes rotational components, the difference between the two accelerometer measurements produced by the two multi-dimensional accelerometers 703-704 is used to substantially reduce the error in the calculated attitude of the multi-dimensional pointing device 701 that is caused by dynamic acceleration.
Determining Attitude Using a Kalman Filter
In some embodiments, the attitude of a multi-dimensional pointing device (e.g., the multi-dimensional pointing device 102 in
Attention is now directed to
In some embodiments, during the predict phase, a predicted state {circumflex over (x)} and a predicted error covariance matrix P are determined as follows:
where {circumflex over (x)}(tk+1) is the predicted state of the Kalman filter at timestep k+1, ƒ(x,u,t) are the dynamics of the system (defined below), x is the state, u is a control input (e.g., accelerations due to the arm of the user 103), t is time, Pk(tk) is the predicted error covariance matrix at timestep k, Pk(tk+1) is the predicted error covariance matrix at timestep k+1, Q(tk) is an approximation of the process noise matrix at timestep k, and Φ is a state transition matrix, which is obtained from the system dynamics.
The state transition matrix, Φ, is nominally an identity matrix (i.e., ones on the diagonal) for those states that do not have a dynamics model. A dynamics model is a model of the underlying dynamic system. For example, the dynamics model for a body in motion may include Newton's equations of motion. In some embodiments, the dynamics model for attitude determination is defined by Equations (15)-(21) below. In some embodiments, only the quaternion representing the attitude of the multi-dimensional pointing device and the vector including values representing the body rotation rate are associated with dynamic models. Thus, the only non-zero off-diagonal elements of the state transition matrix Φ are the portions of the state transition matrix that correspond to the covariances of the quaternion and body rotation rate states. Numerical values for this portion of the state transition matrix may be calculated for each timestep using a finite difference scheme instead of calculation of the dynamic system's Jacobian matrix. (Note that finding and integrating the Jacobian is the traditional technique of computing the state transition matrix.) In this finite difference scheme, a set of perturbed state vectors at time tk, as well as the unperturbed state, are propagated through the dynamics model (e.g., represented by equations (15)-(21) below). Each perturbed state vector is perturbed in a single state. The differences between the propagated perturbed state and the propagated unperturbed state are calculated. The difference vectors are divided by size of the initial perturbation. These difference vectors make up the dynamic portion of the state transition matrix.
In some embodiments, the process noise matrix, Q, only includes values on the diagonal elements of the matrix.
In some embodiments, the state of the Kalman filter includes a state vector defined as follows:
where {right arrow over (q)} is a vector including values of a quaternion representing the attitude of the multi-dimensional pointing device, {right arrow over (ω)} is a vector including values representing the body rotation rate (e.g., the rate at which the attitude of the multi-dimensional pointing device is rotating), rrot is a vector including a value that represents the radius of rotation between one of the multi-dimensional accelerometers (e.g., the multi-dimensional accelerometer 703 (A)) and the pivot origin (e.g., the pivot origin 702), aYd and aZd are the bias values in the Y and Z directions of the difference between the two accelerometer measurements (e.g., the accelerometer measurements 204-205). In some embodiments, the bias of the multi-dimensional magnetometer is estimated using a separate Kalman filter.
Before continuing with the discussion of the Kalman filter, it is instructive to discuss the quaternion {right arrow over (q)} representing the attitude of the multi-dimensional pointing device.
Returning to the discussion of the Kalman filter, in some embodiments, the function ƒ(x,u,t) represents the equations of motion. For example, the equations of motion may be:
where {right arrow over ({dot over (q)} is the first time derivative of the quaternion {right arrow over (q)} representing the attitude of the multi-dimensional pointing device, {tilde over (ω)} (e.g., see Equation (17), where the components ωx, ωy, and ωz are the x, y, and z components of {right arrow over (ω)}) is the linear mapping of the body rates that when multiplied by quaternion state yields the time rate of change of the quaternion state, {right arrow over ({dot over (ω)} is the angular acceleration (e.g., first time derivative of the body rotation rate) of the multi-dimensional pointing device, h({right arrow over (a)}diff, {right arrow over (ω)}) is a function of the vector representing the difference between the two accelerometer measurements ({right arrow over (a)}diff) and the body rotation rate vector ({right arrow over (ω)}). h({right arrow over (a)}diff, {right arrow over (ω)}) is defined below.
Each multi-dimensional accelerometer measures a composite (e.g., vector sum) of the following accelerations/forces: tangential, centripetal, gravitational (as measured in the body frame of the accelerometer), and translational. These acceleration components may be represented as follows:
{right arrow over (a)}A=−{right arrow over ({dot over (ω)}×{right arrow over (r)}A−{right arrow over (ω)}×{right arrow over (ω)}×{right arrow over (r)}A+DCM({right arrow over (q)}){right arrow over (g)}+{right arrow over (a)}translational (18)
{right arrow over (a)}B=−{right arrow over ({dot over (ω)}×{right arrow over (r)}B−{right arrow over (ω)}×{right arrow over (ω)}×{right arrow over (r)}B+DCM({right arrow over (q)}){right arrow over (g)}+{right arrow over (a)}translational (19)
where {right arrow over (a)}A and {right arrow over (a)}B are the composite accelerations measurements (e.g., the acceleration measurements 204-205) for each of the two accelerometers (e.g., the multi-dimensional accelerometers 201-202) of the multi-dimensional pointing device, {right arrow over ({dot over (ω)} is the rate of change of the body rotation rate {right arrow over (ω)}, {right arrow over (r)}A and {right arrow over (r)}B are the radius of rotations of each of the two accelerometers relative to a pivot origin, DCM({right arrow over (q)}) is the direction cosine matrix (DCM) that is obtained from the quaternion {right arrow over (q)} representing the attitude of the multi-dimensional pointing device (e.g., the {right arrow over (q)} is converted to a DCM so that it can operate on the gravity vector {right arrow over (g)}), {right arrow over (g)} is the acceleration due to gravity as viewed from the body frame (e.g., the frame of the accelerometer), and {right arrow over (a)}translational is the translational acceleration.
Note that the Kalman state described above only includes a state value representing the radius of rotation, rrot, to one of the accelerometers (e.g., the multi-dimensional accelerometer 703 (A)). If the offset (e.g., L 722,
A vector difference {right arrow over (a)}diff between {right arrow over (a)}A and {right arrow over (a)}B yields:
{right arrow over (a)}diff={right arrow over (a)}B−{right arrow over (a)}A=−{right arrow over ({dot over (ω)}×{right arrow over (r)}diff−{right arrow over (ω)}×{right arrow over (ω)}×{right arrow over (r)}diff (20)
where, {right arrow over (r)}diff is the vector difference between {right arrow over (r)}A and {right arrow over (r)}B (e.g., {right arrow over (r)}diff={right arrow over (r)}B−{right arrow over (r)}A). Note that {right arrow over (a)}diff does not include the acceleration forces due to gravity and translation.
Equation (20) may be rearranged to solve for the angular acceleration {right arrow over ({dot over (ω)}:
where {right arrow over ({dot over (ω)} is evaluated at {right arrow over ({dot over (ω)}·{right arrow over (r)}diff=0 (e.g., when the only non-zero components of the angular acceleration {right arrow over ({dot over (ω)}, are orthogonal to the vector {right arrow over (r)}diff, which is defined in the above paragraph). Equation (21) is then used in Equation (16). Note that adiff is a measurement (e.g., from the multi-dimensional accelerometers), ω is obtained from state vector, and {right arrow over (r)}diff is the vector difference between {right arrow over (r)}A and {right arrow over (r)}B, as explained above.
In some embodiments, the number of states in the error covariance matrix P is reduced by expressing the variation of the quaternion state as orthogonal modified Rodrigues parameters (MRPs), which have three (3) parameters as compared to four (4) parameters in a quaternion. The MRP and the quaternion contain the same rotation information, but the redundant parameter in the quaternion avoids singularities. In these embodiments, the update of the quaternion state is estimated as an MRP rotation, and then converted to a quaternion. The update of the quaternion state is applied multiplicatively and preserves the unit norm property of the quaternion.
During the update phase, the predicted state matrix and predicted error covariance matrix are updated based on the sensor measurement as follows:
{circumflex over (x)}k+1(tk)={circumflex over (x)}(tk+1)+Kk({right arrow over (y)}m−ŷ) (22)
Pk+1(tk)=(I−KkGk)Pk(tk) (23)
where {circumflex over (x)}k+1(tk) is the updated state vector at timestep k+1, {circumflex over (x)}(tk+1) is the predicted state vector at timestep k that was calculated in the predict phase, Kk is the Kalman gain, {right arrow over (y)}m is the observed measurements (e.g., the sensor measurements), ŷ is the predicted sensor measurements (e.g., the predicted sensor measurements that are obtained from the predicted state vector and the sensor models described in equations (28) and (29) below), I is the identity matrix, and Gk is an observation transformation matrix that maps the deviations from the state vector to deviations from the observed measurements (e.g., the sensor measurements). Note that the term {right arrow over (y)}m−ŷ is referred to as a residual.
Generally, ŷ is a function of the state vector, the first time derivative of the state vector, and time (e.g., ŷ=g({right arrow over (x)},{right arrow over ({dot over (x)},t)), and may be determined using the sensor models described below. The Kalman gain Kk may be determined using the following equations:
where R is the measurement covariance matrix.
In some embodiments, {right arrow over (y)}m includes the following components:
where {right arrow over (H)}xy is the directional residual of the magnetic field measurement (e.g., the magnetic field measurement 206), {right arrow over (a)}A is the accelerometer measurement (e.g., the accelerometer measurement 205) from a first multi-dimensional accelerometer (e.g., the multi-dimensional accelerometer 202), and {right arrow over (a)}B is the accelerometer measurement (e.g., the accelerometer measurement 204) from a second multi-dimensional accelerometer (e.g., the multi-dimensional accelerometer 201). Note that the directional residual of the magnetic field measurement, {right arrow over (H)}xy, may be used because when determining the attitude of a multi-dimensional pointing device, only the directional information is required; the magnitude of the magnetic field is not used. In fact, in these embodiments, attempting to correct/update the magnitude of the magnetic field in the Kalman filter state causes the Kalman filter state to diverge. {right arrow over (H)}xy may be calculated from the magnetic field measurement using the technique described in “Spinning Spacecraft Attitude Estimation Using Markley Variables: Filter Implementation and Results” (Joseph E. Sedlak, 2005, available at http://www.ai-solutions.com/library/tech.asp), which is hereby incorporated by reference in its entirety.
In some embodiments, the sensor model for the multi-dimensional magnetometer and the multi-dimensional accelerometers are:
Ĥxy=[RBzenith][DCM({circumflex over (q)}(tk+1))]{right arrow over (H)}ref (28)
â=−{right arrow over ({dot over (ω)}×{right arrow over (r)}Acc−{circumflex over (ω)}(tk+1)×{circumflex over (ω)}(tk+1)×{right arrow over (r)}Acc+DCM({right arrow over (q)}(tk+1)){right arrow over (g)} (29)
where Ĥxy is the two-dimensional directional residual between the measured and estimated magnetometer values, RBzenith is a rotation matrix that rotates the magnetic field measurement to the Z-axis vector in the new frame of reference (e.g., the frame of reference described in “Spinning Spacecraft Attitude Estimation Using Markley Variables: Filter Implementation and Results,” whereby the directional variances of a three dimensional vector are expressed as two variables.), DCM({circumflex over (q)}(tk+1)) is the DCM that is obtained from the quaternion {circumflex over (q)} representing the estimated attitude of the multi-dimensional pointing device (e.g., the {circumflex over (q)} is converted to a DCM so that it can operate on the gravity vector {right arrow over (g)} and/or {right arrow over (H)}ref), {right arrow over (H)}ref is the assumed magnetic field measurement in the Earth frame, and {right arrow over (r)}Acc is the radius of rotation for a respective accelerometer, relative to the pivot point. The angular acceleration {right arrow over ({dot over (ω)} may be obtained from the difference of the accelerometer measurements (e.g., Equation (21)) and acts as a “pass-through” variable for the sensor measurements
In some embodiments, the state vector {circumflex over (x)} is a 10×1 matrix, the error covariance matrix P is a 9×9 matrix, and the observation partial derivative matrix G is an 8×9 matrix. In these embodiments, {right arrow over (q)} is a 4×1 vector, {right arrow over (ω)} a 3×1 vector, rrot is a 1×1 vector, and aYd and aZd are each 1×1 vectors. These components of the state vector {circumflex over (x)} together form a 10×1 matrix.
Accelerometer quantization may cause the attitude determined by the Kalman filter to incorrectly indicate that the multi-dimensional pointing device is moving when it is not. If left uncorrected, accelerometer quantization may significantly degrade performance of the system in which the multi-dimensional pointing device is used (e.g., the cursor on the host system may drift across the user interface). Thus, in some embodiments, for small values of the accelerometer measurements (e.g., values below twenty times the quantization interval), the techniques described in “Covariance Profiling for an Adaptive Kalman Filter to Suppress Sensor Quantization Effects” by D. Luong-Van et al. (43rd IEEE Conference on Decision and Control, Volume 3, pp. 2680-2685, 14-17 Dec. 2004), which is hereby incorporated by reference in its entirety, are used to mitigate the effects of the quantized data measurements reported by the accelerometers.
Furthermore, accelerometer noise may cause jitter causing the attitude determined by the Kalman filter to indicate that the multi-dimensional pointing device is moving even when the multi-dimensional pointing device at rest. Thus, in some embodiments, a deadband is used for values of the accelerometer measurements that occur in a specified range of quantization levels of the accelerometer measurements. For example, the specified range may be between two and twenty times the quantization level of the accelerometers. Note that it is desirable to minimize the deadband, but this minimization must be balanced against the device performance at low angular rates and accelerations where quantization effects will dominate the behavior of the pointer.
Adaptive Kalman Gain
As discussed above, substantial error can arise in the calculation of the attitude of a multi-dimensional pointing device that is undergoing dynamic acceleration. These errors arise from the inability of a single multi-dimensional accelerometer to distinguish between the effects of dynamic acceleration and the actual gravity vector. To compensate for this, in some embodiments, the acceleration measurements from the accelerometers are given less weight when the multi-dimensional pointing device is undergoing dynamic acceleration than when the multi-dimensional pointing device is not undergoing dynamic acceleration.
The weight of the acceleration measurements in the Kalman filter may be controlled by the Kalman gain (Kk). Thus, in some embodiments, the Kalman gain is adjusted based on the amount of dynamic acceleration experienced by the multi-dimensional pointing device. For example, the Kalman gain may be adjusted through the measurement covariance matrix R (see equations 24 and 25, above).
Attention is now directed to
A Kalman gain based on the difference is adjusted (1004), wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device. When the difference is less than a specified threshold, values associated with the first accelerometer measurement and the second accelerometer measurement in a measurement covariance matrix of the Kalman filter (e.g., R) are decreased so that the first accelerometer measurement and the second accelerometer measurement are given more weight in the Kalman filter relative to the magnetic field measurement than when the difference is greater than the specified threshold. When the difference is greater than a specified threshold, covariance values associated with the first accelerometer measurement and the second accelerometer measurement in a measurement covariance matrix of the Kalman filter (e.g., R) are increased so that the first accelerometer measurement and the second accelerometer measurement are given less weight in the Kalman filter relative to the magnetic field measurement than when the difference is less than the specified threshold. For example, when the difference is greater than the specified threshold, the covariance values associated with the first accelerometer measurement and the second accelerometer measurement may be increased by a factor of 100 compared with their values when the difference is less than the specified threshold. This threshold may be defined as being the same differential acceleration threshold as defined for the deadband.
An attitude of the device is determined (1006) using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device. For example, the Kalman filter described above with reference to
It is noted that in some of the embodiments described above, the multi-dimensional pointing device 1100 does not include a gesture determination module 1119, because gesture determination is performed by a host system. In some embodiments described above, the multi-dimensional pointing device 1100 also does not include the Kalman filter module 1120 because the multi-dimensional pointing device 1100 transmits accelerometer and magnetometer measurements (and optionally button presses 1116) to a host system at which the attitude of the pointing device is determined.
Each of the above identified elements may be stored in one or more of the previously mentioned memory devices, and each of the above identified programs or modules corresponds to a set of instructions for performing a function described above. The set of instructions can be executed by one or more processors (e.g., the CPUs 1102). The above identified modules or programs (i.e., sets of instructions) need not be implemented as separate software programs, procedures or modules, and thus various subsets of these modules may be combined or otherwise re-arranged in various embodiments. In some embodiments, memory 1110 may store a subset of the modules and data structures identified above. Furthermore, memory 1110 may store additional modules and data structures not described above.
Although
It is noted that in some of the embodiments described above, the host system 1200 does not store data representing accelerometer measurements 1217 and data representing magnetometer measurements 1218, and also does not include the Kalman filter module 1220 because the multi-dimensional pointing device's accelerometer and magnetometer measurements are processed at the multi-dimensional pointing device, which sends data representing the attitude estimate 1228 to the host system 1200. In other embodiments, the multi-dimensional pointing device sends data representing measurements to the host system 1200, in which case the modules for processing that data are present in the host system 1200.
Each of the above identified elements may be stored in one or more of the previously mentioned memory devices, and each of the above identified programs or modules corresponds to a set of instructions for performing a function described above. The set of instructions can be executed by one or more processors (e.g., the CPUs 1202). The above identified modules or programs (i.e., sets of instructions) need not be implemented as separate software programs, procedures or modules, and thus various subsets of these modules may be combined or otherwise re-arranged in various embodiments. The actual number of processors and software modules used to implement the host system 1200 and how features are allocated among them will vary from one implementation to another. In some embodiments, memory 1210 may store a subset of the modules and data structures identified above. Furthermore, memory 1210 may store additional modules and data structures not described above.
Rolling Gestures
As discussed above, existing pointing devices can be used to perform translational movements of objects (e.g., a cursor, etc.) in a user interface of a client computer system. One type of non-translational movement that can be performed in the real world (as opposed to the simulated environment displayed by a computer) is a rolling gesture (e.g., a rotation operation). For example, the rolling gesture may be performed when turning a key or turning a dial. However, existing pointing devices do not enable the performance of rolling gestures or rotation operations with respect to objects displayed in the user interface of a computer system. Accordingly, it would be highly desirable to provide a multidimensional pointing device (e.g., a free space pointer) that sends commands to a computer system so as to provide both translational and non-translational movements of objects in a user interface of the computer system.
In the example shown in
In some other embodiments, the volume control object 1310 need not rotate, and instead a volume indicator within the volume control object 1310 may move, change size or rotate as the multi-dimensional pointing device 1302 is rotated. For example, the volume control object 1310 can include a bar or wedge-shaped object that increases or decrease in size as the multi-dimensional pointing device 1302 is rotated.
In some embodiments, if there is more than one object in the user interface 1308 that may be rotated or otherwise controlled by rotation of the multi-dimensional pointing device 1302, the object to be rotated or controlled is selected using the multi-dimensional pointing device 1302. There are several different ways that object selection can be accomplished. In some embodiments, an object is selected by manipulating the multi-dimensional pointing device 1302 so as to position a cursor on or within a predetermined distance of the object, and then performing a rotation gesture so as to control the object. Optionally, when the user manipulates the multi-dimensional pointing device to move the cursor within the predetermined distance of the volume control object 1310, a “grab” operation is performed on the volume control object 1310.
Alternatively, an object is selected by manipulating the multi-dimensional pointing device 1302 so as position a cursor on or within a predetermined distance of the object and then pressing a button on the multi-dimensional pointing device 1302 so as to select the object. In yet other embodiments, an object is selected by pressing a corresponding button on the multi-dimensional pointing device 1302. For example, the multi-dimensional pointing device 1302 may have two or more buttons 1304, each corresponding to a different respective user interface object.
In other embodiments, other combinations of button presses and gestures may be used to perform the operations discussed with respect to
In embodiments in which there is only one object in the user interface 1308 that may be controlled by a rotation gesture performed using the multi-dimensional pointing device 1302, the user may press (and optionally hold down) a gesture button while rotating the multi-dimensional pointing device 1302 about its longitudinal axis so as to control that object, without having to first select the object.
Once a user interface object has been selected, the selected object is rotated or otherwise manipulated by performing a rotation gesture using the multi-dimensional pointing device 1302. Performance of the rotation gesture results in rotation information (e.g., a rolling gesture metric) being transmitted to the host system 1306. More specifically, rolling gesture metric values may be conveyed periodically to the host system 1306, each rolling gesture metric value representing either a change in rotational angle (of the multi-dimensional pointing device 1302) between consecutive sample times, or a rate of rotational change (of the multi-dimensional pointing device 1302) between consecutive sample times. The rolling gesture metric values conveyed to the host system 1306 are then used to manipulate (e.g., rotate or otherwise adjust) an object on the user interface or a setting of the host system.
In some embodiments, when the user rotates the multi-dimensional pointing device 1302 about its longitudinal axis, the host system 1306 responds by rotating the volume control object 1310 in a direction corresponding to the direction of rotation of the multi-dimensional pointing device 1302, or by otherwise updating the volume control object 1310 in a manner consistent with the direction and amount of the rotation. In some of these embodiments, the user first presses and releases a volume button or gesture button on the multi-dimensional pointing device 1302 prior to rotating the multi-dimensional pointing device 1302 about its longitudinal axis, and then begins the rotation gesture within a predefined amount of time (e.g., 1 second). Alternatively, to perform the rotation gesture, the user presses and holds down a volume button or gesture button on the multi-dimensional pointing device 1302 while rotating the multi-dimensional pointing device 1302 about its longitudinal axis.
The discussion above refers to a volume control object 1310 in the user interface 1308. However, the volume of a host system may be adjusted without requiring a volume control object 1310 in a user interface. For example, the user may press a volume button on the multi-dimensional pointing device 1302 and then rotate the multi-dimensional pointing device 1302 to adjust the volume. In this example, the user receives feedback, in response to the rotation gesture, in the volume of the sounds output by the host system.
As noted above, a rolling gesture may be applied to objects in a user interface other than a volume control object. For example, a rolling gesture may be used to adjust a variety of settings in the host system 1306 (e.g., channels, brightness, contrast, hue, saturation, etc.). If buttons corresponding to these settings (e.g., a channel button, a brightness button, a contrast button, a hue button, a saturation button, etc.) are present on the multi-dimensional pointing device 1302, these settings may be adjusted without having to use a cursor controlled by the multi-dimensional pointing device 1302 to select corresponding objects in the user interface 1308 of the host system 1306. Furthermore, a rolling gesture may be used to rotate (or otherwise manipulate or adjust parameters of) objects such as pages of a document, photographs, and the like.
Note that although this specification is described with respect to a rolling gesture performed about a longitudinal axis (i.e., a roll axis) of the multi-dimensional pointing device 1302 and a corresponding rolling gesture metric, the embodiments described herein may be applied to a rotation about a pitch axis or a yaw axis and a corresponding pitch gesture metric or a yaw gesture metric, respectively. These axes are illustrated in
The firmware 1402 then transmits (e.g., using a transmitter circuit in the multi-dimensional pointing device 1302) values for dx, dy, ω, α, and any button presses to the host system 1306. In some embodiments, a mouse driver 1404 in the host system 1306 receives the values for dx, dy, ω, and the button presses and produces a position, angle or other signal or value (e.g., a number of scroll wheel clicks and a scroll wheel direction (e.g., up or down)) that is used by an application 1406 to manipulate an object in the user interface. Typically, the firmware 1402 is configured to periodically transmit the dx, dy, ω, and button presses (if any), and optionally α, to the host system 1306, at a rate sufficient to provide the illusion of continuous or smooth movement of the cursor and/or other object on the user interface. In some embodiments, the firmware 1402 is configured to periodically transmit the dx, dy, ω, α, and button presses (if any) to the host system 1306 N times per second, where N is a value in the range 2 to 20 (e.g., N=5).
The multi-dimensional pointing device then detects (1504) performance of a rolling gesture comprising rotation of the multi-dimensional pointing device about a longitudinal axis of the multi-dimensional pointing device. In some embodiments, performance of a rolling gesture is detected when the amount of rotation (e.g., change in rotation angle or rotation rate) of the pointing device exceeds a predefined threshold, while in other embodiments performance of a rolling gesture is detected when the amount of rotation of the pointing device exceeds the threshold for at least M consecutive time periods, where M is predefined value equal to 2 or more (M≧2). Furthermore, in some embodiments detection of a rolling gesture is independent of the amount of lateral and vertical movement (dx, dy) of the pointing device, while in other embodiments a rolling gesture is detected only when the amount of lateral and vertical movement (dx, dy) of the pointing device is less than a threshold amount (e.g. only when dx2+dy2≦D, where D corresponds to the threshold).
Next, if performance of a rolling gesture has been detected (1505—Yes), the multi-dimensional pointing device determines (1506) a corresponding rolling gesture metric. The rolling gesture metric corresponds to a change in attitude of the pointing device upon initiation of the rolling gesture. In some embodiments, the rolling gesture metric is selected from the group consisting of a roll angle, a roll rate, and a roll acceleration. In some embodiments, the rolling gesture metric is a combination of two or more of the roll angle, roll rate, and roll acceleration (e.g., a predefined linear combination or predefined non-linear combination of two or more of the aforementioned values).
If performance of a rolling gesture has not been detected (1505—No), then there is no corresponding rolling gesture metric, and the process waits until a next sample time (1510) to resume at 1504. As noted above, in some embodiments the multi-dimensional pointing device is configured to repeat process 1500 two to twenty times per second (corresponding to 2 to 20 sample times per second). In some embodiments, if sufficient time passes (e.g., more than a predetermined period of time, such as 1 or 2 seconds, or more than a predetermined number of sample periods) without performance of a rolling gesture being detected, performance of the process 1500 is suspended. Process 1500 resumes when the multi-dimensional pointing device detects (1502) initiation of a gesture by a user of the multi-dimensional pointing device.
The multi-dimensional pointing device then conveys (1508) information corresponding to the rolling gesture metric to a client computer system, where the client computer system is configured to manipulate an object in a user interface of the client computer system in accordance with the rolling gesture metric. In some embodiments, the multi-dimensional pointing device includes a transmitter circuit configured to transmit data to the client computer system. After conveying the information to the client computer system, at least a portion of process 1500 (e.g., operations 1506 and 1508, or operations 1504-1508) are repeated at a next sampling time.
In some embodiments, operations 1504 and 1505, detecting performance of a rolling gesture, are not performed. Instead, for every consecutive sampling period during which the point device is active, a rolling gesture metric is determined (1506) and conveyed (1508) by the pointing device to the host system. The rolling gesture metric is then evaluated at the host system to determine if any corresponding action is required at the host system. Furthermore, in some embodiments, if the rolling gesture metric indicates either no rotation of the pointing device, or an amount of rotation that is less than a threshold amount, the host system does not rotate or update any user interface objects based on the received rolling gesture metric. Thus, in these embodiments, the job of the multi-dimensional pointing device is to periodically report changes in its attitude to the host system, regardless of whether those changes in attitude correspond to a rolling gesture or any other gesture. Alternatively, in some other embodiments in which operations 1504 and 1505 are not performed, a rolling gesture metric is determined (1506) and conveyed (1508) by the pointing device to the host system only if initiation of a gesture by the user of the multi-dimensional pointing device has been detected (1502).
Attention is now directed to
In some embodiments, operations 1604 and 1608, determining whether the multi-dimensional pointing device is undergoing a rotation about a longitudinal axis of the multi-dimensional pointing device, are not performed. Instead, the rolling gesture metric is always computed (1606) based on the change in attitude (if any) of the multi-dimensional pointing device. In these embodiments, the rolling gesture metric is then evaluated at the client computer system (host system) to determine if any corresponding action is required at the host system.
In some embodiments, the rolling gesture is mapped by the client computer system to a rotation operation that is performed on the object in the user interface of the client computer system. In some embodiments, the object is selected from the group consisting of a dial, a photograph, and a page of a document. Note that the rolling gesture may be performed on other objects.
In some embodiments, the rolling gesture is mapped to a scrolling operation that is performed on the object in the user interface of the client computer system. In some embodiments, the object is selected from the group consisting of a web page, a document, and a list. Note that the scrolling operation may be performed on other objects.
In some embodiments, the rolling gesture metric is mapped by the client computer system (host system) to a number of clicks of a mouse wheel over a time interval.
Note that the discussion of
Note that the methods 800, 1000, 1500, and 1506 may be governed by instructions that are stored in a computer readable storage medium and that are executed by one or more processors of a pointing device or a host system. As noted above, in some embodiments these methods may be performed in part on a pointing device and in part on a host system. Each of the operations shown in
The foregoing description, for purpose of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated.
This application is a continuation of U.S. application Ser. No. 12/984,547 filed Jan. 4, 2011, entitled “Rolling Gesture Detection Using a Multi-Dimensional Pointing Device,” now U.S. Pat. No. 8,587,519 issued Nov. 19, 2013, which claims the benefit of U.S. Provisional Patent Application No. 61/292,797 filed Jan. 6, 2010, entitled “Rolling Gesture Detection Using a Multi-Dimensional Pointing Device,” all of which are incorporated by reference herein in their entireties. This application is related to U.S. patent application Ser. No. 12/436,727 filed on May 6, 2009, entitled “System and Method for Determining an Attitude of a Device Undergoing Dynamic Acceleration Using a Kalman Filter,” now U.S. Pat. No. 8,515,707 issued Aug. 20, 2013, which claims the benefit of U.S. Provisional Patent Application No. 61/143,133 filed Jan. 7, 2009, entitled “System and Method for Determining an Attitude of a Device Undergoing Dynamic Acceleration Using Kalman Filter,” both of which are incorporated by reference herein in their entireties. This application is also related to U.S. patent application Ser. No. 12/338,991 filed on Dec. 18, 2008, entitled “System and Method for Determining an Attitude of a Device Undergoing Dynamic Acceleration,” now U.S. Pat. No. 8,576,169 issued Nov. 5, 2013, which is incorporated by reference herein in its entirety. This application is also related to U.S. patent application Ser. No. 12/338,996 filed on Dec. 18, 2008, entitled “Host System and Method for Determining an Attitude of a Device Undergoing Dynamic Acceleration,” now U.S. Pat. No. 8,223,121 issued Jul. 17, 2012, which is incorporated by reference herein in its entirety.
| Number | Name | Date | Kind |
|---|---|---|---|
| 5128671 | Thomas, Jr. | Jul 1992 | A |
| 5645077 | Foxlin | Jul 1997 | A |
| 5757360 | Nitta et al. | May 1998 | A |
| 5819206 | Horton et al. | Oct 1998 | A |
| 5874941 | Yamada | Feb 1999 | A |
| 6072467 | Walker | Jun 2000 | A |
| 6157894 | Hess et al. | Dec 2000 | A |
| 6176837 | Foxlin | Jan 2001 | B1 |
| 7139983 | Kelts | Nov 2006 | B2 |
| 7158118 | Liberty | Jan 2007 | B2 |
| 7216055 | Horton et al. | May 2007 | B1 |
| 7262760 | Liberty | Aug 2007 | B2 |
| 7296363 | Danisch et al. | Nov 2007 | B2 |
| 7305630 | Hullender et al. | Dec 2007 | B2 |
| 7350303 | Rock et al. | Apr 2008 | B2 |
| 7414611 | Liberty | Aug 2008 | B2 |
| 7451549 | Sodhi et al. | Nov 2008 | B1 |
| 7647185 | Tarassenko et al. | Jan 2010 | B2 |
| 7815508 | Dohta | Oct 2010 | B2 |
| 7844415 | Bryant et al. | Nov 2010 | B1 |
| 7940986 | Mekenkamp et al. | May 2011 | B2 |
| 7978178 | Pehlivan et al. | Jul 2011 | B2 |
| 8184100 | Lian et al. | May 2012 | B2 |
| 8201200 | Imai | Jun 2012 | B2 |
| 8223121 | Shaw et al. | Jul 2012 | B2 |
| 20020158815 | Zwern | Oct 2002 | A1 |
| 20030023192 | Foxlin | Jan 2003 | A1 |
| 20030107888 | Devlin et al. | Jun 2003 | A1 |
| 20050229117 | Hullender et al. | Oct 2005 | A1 |
| 20060033716 | Rosenberg et al. | Feb 2006 | A1 |
| 20060164384 | Smith et al. | Jul 2006 | A1 |
| 20060164386 | Smith et al. | Jul 2006 | A1 |
| 20060250358 | Wroblewski | Nov 2006 | A1 |
| 20070287911 | Haid et al. | Dec 2007 | A1 |
| 20080072234 | Myroup | Mar 2008 | A1 |
| 20080080789 | Marks et al. | Apr 2008 | A1 |
| 20080211768 | Breen et al. | Sep 2008 | A1 |
| 20080281555 | Godin et al. | Nov 2008 | A1 |
| 20080284729 | Kurtenbach et al. | Nov 2008 | A1 |
| 20090009471 | Yamamoto et al. | Jan 2009 | A1 |
| 20090040175 | Xu et al. | Feb 2009 | A1 |
| 20090048021 | Lian et al. | Feb 2009 | A1 |
| 20090153349 | Lin et al. | Jun 2009 | A1 |
| 20090326857 | Mathews et al. | Dec 2009 | A1 |
| 20100039381 | Cretella et al. | Feb 2010 | A1 |
| 20100060573 | Moussavi | Mar 2010 | A1 |
| 20100095773 | Shaw et al. | Apr 2010 | A1 |
| 20100097316 | Shaw et al. | Apr 2010 | A1 |
| 20100110001 | Yamamoto | May 2010 | A1 |
| 20100123605 | Wilson | May 2010 | A1 |
| 20100123656 | Park et al. | May 2010 | A1 |
| 20100149341 | Marks et al. | Jun 2010 | A1 |
| 20100150404 | Marks et al. | Jun 2010 | A1 |
| 20100156786 | Kabasawa et al. | Jun 2010 | A1 |
| 20100157168 | Dunton et al. | Jun 2010 | A1 |
| 20100194879 | Pasveer et al. | Aug 2010 | A1 |
| 20100302145 | Langridge et al. | Dec 2010 | A1 |
| 20110163947 | Shaw et al. | Jul 2011 | A1 |
| 20110205156 | Gomez et al. | Aug 2011 | A1 |
| 20110242361 | Kuwahara et al. | Oct 2011 | A1 |
| Number | Date | Country |
|---|---|---|
| 1762287 | Mar 2007 | EP |
| WO 2004047011 | Jun 2004 | WO |
| WO 2005040991 | May 2005 | WO |
| WO 2005108119 | Nov 2005 | WO |
| WO 2006090197 | Aug 2006 | WO |
| WO 2009093161 | Jul 2009 | WO |
| WO 2009132920 | Nov 2009 | WO |
| WO 2009156499 | Dec 2009 | WO |
| Entry |
|---|
| Ang, Kalman filtering for real-time orientation tracking of handheld microsurgical instrument, Sep. 28-Oct. 2, 2004, 8 pgs. |
| Foxlin, “Intertial Head-Tracker Sensor Fusion by a Complementary Separate-Bias Kalman Filter,” 1996, IEEE, pp. 185-195. |
| Foxlin et al., “Miniature 6-DOF Inertial System for Tracking HMDs,” SPIE vol. 3362, Helmet and Head-Mounted Displays III, AeroSense 98, Orlando, FL, Apr. 13-14, 1998, pp. 1-15. |
| Sensor Platforms, ISR/WO, PCT/US2009/060475, May 18, 2010, 9 pgs. |
| Sensor Platforms, ISR/WO, PCT/US2009/067976, May 3, 2010, 9 pgs. |
| Sensor Platforms, ISR/WO, PCT/US2011/020242, Apr. 12, 2011, 13 pgs. |
| Sensor Platforms, ISR/WO, PCT/US2011/052185, Jan. 31, 2012, 11 pgs. |
| Sensor Platforms, ISR/WO, PCT/US2012/020365, May 23, 2012 10 pgs. |
| Simon, Kalman Filtering, Embedded Systems Programming, Jun. 2001, pp. 72-79. |
| Number | Date | Country | |
|---|---|---|---|
| 20140055351 A1 | Feb 2014 | US |
| Number | Date | Country | |
|---|---|---|---|
| 61292797 | Jan 2010 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 12984547 | Jan 2011 | US |
| Child | 14066578 | US |
