# US 10,871,570 B2 · System and method for position and orientation tracking > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,871,570 B2 - Document ID: US10871570B2 - Status: Granted - Kind: B2 - Application number: 16/647,527 - Filed: 2018-09-13 - Published: 2020-09-03 - Granted: 2020-12-22 - Earliest claimed: 2017-09-14 - Assignees: Everysight Ltd. - Applicants: Everysight Ltd. - Inventors: Hanan Shamir; Ari Abramson; Shmuel Akerman; Asaf Ashkenazi - Web page: https://patentgrep.com/patent/US10871570B2 ## CPC - G01S 17/003: {Bistatic lidar systems; Multistatic lidar systems} - G01S 17/66: Tracking systems using electromagnetic waves other than radio waves - G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section} - G01S 7/4808: {Evaluating distance, position or velocity data} - G01S 7/4913: Circuits for detection, sampling, integration or read-out - G01S 17/04: Systems determining the presence of a target - G01S 17/06: Systems determining position data of a target - G01S 17/875: for determining attitude - G01S 17/89: for mapping or imaging - G02B 27/0093: {with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking} - G01S 13/003: {Bistatic radar systems; Multistatic radar systems} - G01S 13/04: Systems determining presence of a target (based on relative movement of target G01S13/56) - G01S 13/06: Systems determining position data of a target - G01S 13/723: {by using numerical data} - G01S 13/874: {Combination of several systems for attitude determination (in general G01C, control of attitude G05D1/49)} - G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)} - G01S 15/003: {Bistatic sonar systems; Multistatic sonar systems} - G01S 15/04: Systems determining presence of a target - G01S 15/06: Systems determining the position data of a target - G01S 15/66: Sonar tracking systems - G01S 15/872: {Combination of several systems for attitude determination (using inertial means G01C9/00, control of attitude G05D1/49)} - G01S 15/876: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S15/872 takes precedence)} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS ## Abstract A system for tracking wearable user devices is provided herein. The system may include a tracking environment, comprising: one or more scene light sources, wherein the location of the scene light sources is known within said tracking environment; one or more scene detectors operable to detect light within the tracking environment, wherein the location and orientation of said one or more scene detectors is known within said tracking environment; one or more scene reflectors operable to reflect light originating from said one or more scene light sources, wherein the location of said one or more scene reflectors is known within said tracking environment; and, one or more wearable user devices comprising a curved reflective surface with known geometry; and, a computer processor operable to analyse light readings detected by said one or more scene detectors, and to calculate a position of the one or more wearable user devices. ## Claims ### Claim 1 A system for tracking wearable user devices, the system comprising: a tracking environment, comprising: i) one or more scene light sources, wherein the location of said one or more scene light sources is known within said tracking environment; ii) one or more scene detectors operable to detect light within the tracking environment, wherein the location and orientation of said one or more scene detectors is known within said tracking environment; iii) one or more scene reflectors operable to reflect light originating from said one or more scene light sources, wherein the location of said one or more scene reflectors is known within said tracking environment; and, iv) one or more wearable user devices comprising a curved reflective surface with known geometry; and, a computer processor operable to analyse light readings detected by said one or more scene detectors, and to calculate therefrom a position of said one or more wearable user devices within said tracking environment. ### Claim 2 (depends on 1) The system according to claim 1, wherein said one or more wearable user devices further comprise one or more mobile light sources or retro-reflectors, and wherein said computer processor is further operable to analyse light received from said one or more mobile light sources. ### Claim 3 (depends on 2) The system according to claim 2, wherein said computer processor is further operable to calculate, based on analysed light readings arising from said one or more scene light sources and analysed light readings arising from said one or more mobile light sources, an orientation of said one or more wearable user devices within said tracking environment. ### Claim 4 (depends on 1) The system according to claim 1, wherein said tracking environment is a room, a cockpit, an interior of a road vehicle, a box, a cupboard, or a portable enclosure. ### Claim 5 (depends on 1) The system according to claim 1, wherein one or more of said one or more wearable user devices is a pair of glasses, a headset, a monocle, a pair of gloves, a shirt, a pair of trousers, or a pair of shoes. ### Claim 6 (depends on 1) The system according to claim 1, wherein said tracking environment comprises at least two scene detectors having a unique field of coverage, and wherein light readings detected by said at least two scene detectors are compared by said computer processor to: check for conformity and inaccuracy; or, to establish redundancy in the event that light readings from one of said at least two scene detectors are missing. ### Claim 7 (depends on 1) The system according to claim 1, wherein said tracking environment comprises at least two scene detectors having a partial or fully overlapping field of coverage, and wherein light readings detected by said at least two scene detectors are combined by said computer processor to form a complete field of coverage. ### Claim 8 (depends on 1) The system according to claim 1, wherein at least one of: said one or more scene detectors and said one or more scene reflectors are coupled to a motorized mounting fixture operable to selectively or automatically vary orientation with respect to said tracking environment. ### Claim 9 (depends on 1) The system according to claim 1, wherein said tracking environment comprises at least two scene light sources, and wherein said at least two scene light sources comprise a different coloured light emitting diode (LED), filament bulb, or halogen bulb. ### Claim 10 (depends on 1) The system according to claim 1, wherein said tracking environment comprises: one or more scene light sources operable to radiate in the infrared spectrum; or, one or more scene light sources operable to emit radio spectrum radiation. ### Claim 11 A method for tracking wearable user devices, the method comprising: i) illuminating a tracking environment with one or more scene light sources, wherein light originating from said one or more scene light sources is reflected by one or more scene reflectors, and wherein the location of said one or more scene light sources and said one or more scene reflectors is known within said tracking environment; ii) detecting, with one or more scene detectors, light reflected from one or more wearable user devices within said tracking environment, wherein the location and orientation of said one or more scene detectors is known within said tracking environment, and wherein said one or more wearable user devices comprises a curved reflective surface with known geometry; and, iii) analysing light readings detected by said one or more scene detectors and calculating therefrom a position of said one or more wearable user devices within said tracking environment. ### Claim 12 (depends on 11) The method according to claim 11, further comprising analysing light received from one or more mobile light sources, wherein said one or more wearable user devices comprise said one or more mobile light sources. ### Claim 13 (depends on 12) The method according to claim 12, further comprising calculating, based on analysed light readings arising from said one or more scene light sources and analysed light readings arising from said one or more mobile light sources, an orientation of said one or more wearable user devices within said tracking environment. ### Claim 14 (depends on 11) The method according to claim 11, wherein said tracking environment is a room, a cockpit, an interior of a road vehicle, a box, a cupboard, or a portable enclosure. ### Claim 15 (depends on 11) The method according to claim 11, wherein one or more of said one or more wearable user devices is a pair of glasses, a headset, a monocle, a pair of gloves, a shirt, a pair of trousers, or a pair of shoes. ### Claim 16 (depends on 11) The method according to claim 11, further comprising at least two scene detectors having a unique field of coverage, wherein light readings detected by said at least two scene detectors are compared to: check for conformity and inaccuracy; or, to establish redundancy in the event that light readings from one of said at least two scene detectors are missing. ### Claim 17 (depends on 11) The method according to claim 11, further comprising at least two scene detectors having a partial or fully overlapping field of coverage, wherein light readings detected by said at least two scene detectors are combined to form a complete field of coverage. ### Claim 18 (depends on 11) The method according to claim 11, wherein at least one of: said one or more scene detectors and said one or more scene reflectors are coupled to a motorized mounting fixture operable to selectively or automatically vary orientation with respect to said tracking environment. ### Claim 19 (depends on 11) The method according to claim 11, further comprising at least two scene light sources, wherein said at least two scene light sources comprise a different coloured light emitting diode (LED), filament bulb, or halogen bulb. ### Claim 20 (depends on 11) The method according to claim 11, further comprising: one or more scene light sources operable to radiate in the infrared spectrum; or, one or more scene light sources operable to emit radio spectrum radiation.