# US 10,503,248 B1 · Selective color sensing for motion tracking > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,503,248 B1 - Document ID: US10503248B1 - Status: Granted - Kind: B1 - Application number: 16/412,262 - Filed: 2019-05-14 - Granted: 2019-12-10 - Earliest claimed: 2017-02-14 - Assignees: Facebook Technologies, LLC - Applicants: Facebook Technologies, LLC - Inventors: Youngshik Yoon - Web page: https://patentgrep.com/patent/US10503248B1 ## CPC - G06F 3/012: {Head tracking input arrangements} - G06F 3/0325: {using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image} - G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments - G06T 7/73: using feature-based methods - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - G06T 7/90: Determination of colour characteristics - G06T 2207/10016: Video; Image sequence - G06T 2207/10024: Color image - G06T 2207/10048: Infrared image - G06T 2207/10152: Varying illumination - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A portable device includes one or more optical sensors, one or more light emitters, one or more processors, and memory storing one or more programs. The one or more programs include instructions, which, when executed by the one or more processors, cause the portable device to receive information identifying respective intensities of light, detected by the one or more optical sensors, for a plurality of distinct wavelengths, select a set of one or more distinct wavelengths based on the respective intensities of light for the plurality of distinct wavelengths, and subsequent to selecting the set of one or more distinct wavelengths, initiate the one or more light emitters to emit light of the set of one or more selected wavelengths for indicating a position of the portable device. ## Claims ### Claim 1 A first portable device, comprising: one or more optical sensors; one or more light emitters; one or more processors; and memory storing one or more programs, the one or more programs including instructions, which, when executed by the one or more processors, cause the first portable device to: receive information identifying respective intensities of light, detected by the one or more optical sensors, for a plurality of distinct wavelengths; select a first set of one or more distinct wavelengths based on the respective intensities of light, detected by the one or more optical sensors, for the plurality of distinct wavelengths, wherein the first set of one or more distinct wavelengths is distinguishable from the light detected by the one or more optical sensors; and, subsequent to selecting the first set of one or more distinct wavelengths, initiate the one or more light emitters to emit light of the first set of one or more selected wavelengths for indicating a position of the first portable device. ### Claim 2 (depends on 1) The first portable device of claim 1, wherein: the light for the plurality of distinct wavelengths is detected by the one or more optical sensors while the first portable device is not emitting light of the first set of one or more selected wavelengths. ### Claim 3 (depends on 1) The first portable device of claim 1, wherein: the first set of one or more distinct wavelengths includes two or more distinct wavelengths; and the one or more programs also include instructions, which, when executed by the one or more processors, cause the first portable device to, subsequent to selecting the first set of one or more distinct wavelengths for emission by the one or more light emitters: select respective intensities of light for the two or more distinct wavelengths; and initiate the first portable device to emit light of the two or more selected wavelengths in accordance with the selected respective intensities of light for the two or more distinct wavelengths for indicating the position of the first portable device. ### Claim 4 (depends on 3) The first portable device of claim 3, wherein: the two or more distinct wavelengths include a first wavelength and a second wavelength; and the first wavelength is selected to be emitted with a first intensity and the second wavelength is selected to be emitted with a second intensity distinct from the first intensity. ### Claim 5 (depends on 4) The first portable device of claim 4, wherein the first intensity and the second intensity are higher than an intensity of ambient light. ### Claim 6 (depends on 1) The first portable device of claim 1, wherein the one or more programs include instructions, which, when executed by the one or more processors, cause the first portable device to: subsequent to initiating the one or more light emitters to emit light of the first set of one or more selected wavelengths for indicating the position of the first portable device, receiving information identifying one or more respective intensities of light, detected by the one or more optical sensors, for a second set of one or more distinct wavelengths that is distinguishable from the first set of one or more distinct wavelengths; and determine a position of a second portable device that is distinct and separate from the first portable device based on the information identifying the one or more respective intensities of light, detected by the one or more optical sensors, for the second set of one or more distinct wavelengths. ### Claim 7 (depends on 6) The first portable device of claim 6, wherein the one or more programs include instructions, which, when executed by the one or more processors, cause the first portable device to: reselect the first set of one or more distinct wavelengths based on at least the second set of one or more distinct wavelengths. ### Claim 8 (depends on 6) The first portable device of claim 6, wherein the one or more programs include instructions, which, when executed by the one or more processors, cause the first portable device to: subsequent to initiating the one or more light emitters to emit light of the first set of one or more selected wavelengths for indicating the position of the first portable device, receiving information identifying one or more respective intensities of light, detected by the one or more optical sensors, for a third set of one or more distinct wavelengths that is distinguishable from the first set of one or more distinct wavelengths and the second set of one or more distinct wavelengths; and determine a position of a third portable device that is distinct and separate from the first portable device and the second portable device based on the information identifying the one or more respective intensities of light, detected by the one or more optical sensors, for the third set of one or more distinct wavelengths. ### Claim 9 (depends on 8) The first portable device of claim 8, wherein: the first portable device is a head-mounted display device, the second portable device is a first controller and the third portable device is a second controller, the first controller and the second controller being in communication with the head-mounted display device. ### Claim 10 (depends on 1) The first portable device of claim 1, wherein: the first set of one or more distinct wavelengths is selected from wavelengths corresponding to blue, green, red and near-infrared wavelength ranges. ### Claim 11 A method performed at a first portable device including one or more optical sensors, one or more light emitters, one or more processors, the method comprising: receive information identifying respective intensities of light, detected by the one or more optical sensors, for a plurality of distinct wavelengths; select a first set of one or more distinct wavelengths based on the respective intensities of light, detected by the one or more optical sensors, for the plurality of distinct wavelengths, wherein the first set of one or more distinct wavelengths is distinguishable from the light detected by the one or more optical sensors; and, subsequent to selecting the first set of one or more distinct wavelengths, initiate the one or more light emitters to emit light of the first set of one or more selected wavelengths for indicating a position of the first portable device. ### Claim 12 (depends on 11) The method of claim 11, wherein: the light for the plurality of distinct wavelengths is detected by the one or more optical sensors while the first portable device is not emitting light of the first set of one or more selected wavelengths. ### Claim 13 (depends on 11) The method of claim 11, wherein: the first set of one or more distinct wavelengths includes two or more distinct wavelengths; and the method further includes, subsequent to selecting the first set of one or more distinct wavelengths for emission by the one or more light emitters: select respective intensities of light for the two or more distinct wavelengths; and initiate the first portable device to emit light of the two or more selected wavelengths in accordance with the selected respective intensities of light for the two or more distinct wavelengths for indicating the position of the first portable device. ### Claim 14 (depends on 13) The method of claim 13, wherein: the two or more distinct wavelengths include a first wavelength and a second wavelength; and the first wavelength is selected to be emitted with a first intensity and the second wavelength is selected to be emitted with a second intensity distinct from the first intensity. ### Claim 15 (depends on 14) The method of claim 14, wherein the first intensity and the second intensity are higher than an intensity of ambient light. ### Claim 16 (depends on 11) The method of claim 11, further including: subsequent to initiating the one or more light emitters to emit light of the first set of one or more selected wavelengths for indicating the position of the first portable device, receiving information identifying one or more respective intensities of light, detected by the one or more optical sensors, for a second set of one or more distinct wavelengths that is distinguishable from the first set of one or more distinct wavelengths; and determining a position of a second portable device that is distinct and separate from the first portable device based on the information identifying the one or more respective intensities of light, detected by the one or more optical sensors, for the second set of one or more distinct wavelengths. ### Claim 17 (depends on 16) The method of claim 16, further including: subsequent to initiating the one or more light emitters to emit light of the first set of one or more selected wavelengths for indicating the position of the first portable device, receiving information identifying one or more respective intensities of light, detected by the one or more optical sensors, for a third set of one or more distinct wavelengths that is distinguishable from the first set of one or more distinct wavelengths and the second set of one or more distinct wavelengths; and determining a position of a third portable device that is distinct and separate from the first portable device and the second portable device based on the information identifying the one or more respective intensities of light, detected by the one or more optical sensors, for the third set of one or more distinct wavelengths. ### Claim 18 (depends on 17) The method of claim 17, wherein: the first portable device is a head-mounted display device and the second portable device is a first controller and the third portable device is a second controller, the first controller and the second controller in communication with the head-mounted display device. ### Claim 19 (depends on 11) The method of claim 11, wherein: the first set of one or more distinct wavelengths is selected from wavelengths corresponding to blue, green, red and near-infrared wavelength ranges. ### Claim 20 (depends on 1) A system including: the first portable device of claim 1; and an electronic device in communication with the first portable device.