Information processing device and information processing method that enable simple calibration
AssigneeSony Group Corporation
InventorsMasato Kimishima, Kosei Yamashita, Toru Amano, Tetsuro Sato
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Abstract
Provided is an information processing device and an information processing method that enable simple and appropriate calibration. When a pen-type device incorporating an inertial measurement unit such as an IMU is moved and a drawn image corresponding to a track is displayed, calibration is implemented on the basis of a measurement value of the inertial measurement device in one stationary attitude and a latitude and an absolute azimuth of the inertial measurement device at that time when the pen-type device is inserted into a pen stand to be fixed in a predetermined direction.
Claims17
An information processing device, comprising
- circuitry configured to detect a stationary attitude measurement value;
- and
- a central processing unit (CPU) configured to:
- calculate a gravity direction from information of acceleration in the stationary attitude measurement value;
- calculate a component related to autorotation of earth in an angular velocity of the stationary attitude measurement value as an autorotation component of a sensor coordinate system with reference to the circuitry based on the gravity direction, absolute direction, and information of latitude;
- calibrate the circuitry based on:
- the stationary attitude measurement value that is a measurement value detected by the circuitry and information related to an arrangement of the circuitry in a stationary attitude, and
- the autorotation component of the sensor coordinate system with reference to the circuitry.
An information processing method, comprising:
- detecting, by a circuitry, a stationary attitude measurement value;
- calculating, by a central processing unit (CPU), a gravity direction from information of acceleration in the stationary attitude measurement value;
- calculating, by the CPU, a component related to autorotation of earth in an angular velocity of the stationary attitude measurement value as an autorotation component of a sensor coordinate system with reference to the circuitry based on the gravity direction, absolute direction, and information of latitude;
- calibrating, by the CPU, the circuitry based on:
- the stationary attitude measurement value that is a measurement value detected by the circuitry and information related to an arrangement of the circuitry in a stationary attitude, and
- the autorotation component of the sensor coordinate system with reference to the circuitry.
A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by a processor of an information processing device, cause the processor to execute operations, the operations comprising:
- detecting, by a circuitry, a stationary attitude measurement value;
- calculating, by a central processing unit (CPU), a gravity direction from information of acceleration in the stationary attitude measurement value;
- calculating, by the CPU, a component related to autorotation of earth in an angular velocity of the stationary attitude measurement value as an autorotation component of a sensor coordinate system with reference to the circuitry based on the gravity direction, absolute direction, and information of latitude;
- calibrating, by the CPU, the circuitry based on:
- the stationary attitude measurement value that is a measurement value detected by the circuitry and information related to an arrangement of the circuitry in a stationary attitude, and
- the autorotation component of the sensor coordinate system with reference to the circuitry.
Dependencies are inferred from the claim text.