US 8,542,219 B2 · Processing pose data derived from the pose of an elongate object

Abstract

An apparatus and method for processing pose data derived from a pose of an elongate object such as, for example, a jotting implement, a pointer, a robotic arm or a cane. The elongate object has a tip contacting a plane surface with one or more invariant features. The pose of the elongate object is measured optically from on-board by an optical measuring system with the aid of the invariant feature. The pose is used for preparing a corresponding pose data and a subset of the pose data is identified and transmitted to an application such as a user application, where the subset can serve as command data or input data. Since the elongate object moves while its tip is contacting the surface the pose is measured periodically at sufficiently frequent measurement times ti to describe the motion at a desired temporal resolution. The subset can include all or a portion of the orientation data that describe the orientation of the elongate object in space and/or position data of the tip on the surface. The position can be a relative position of the tip with respect to any feature or its previous position, or an absolute position in world coordinates. The subset can also contain a mix of orientation and position data.

Claims30

Dependent claims

A method for processing pose data derived from an absolute pose of an elongate object having a tip, said method comprising:

a) placing said tip on a plane surface with an invariant feature that is tangible and whose position is defined in world coordinates parameterized by world coordinate vectors (Xo,Yo,Zo) where Xo is a Cartesian x-axis, Yo is a Cartesian y-axis and Zo is a Cartesian z-axis, said Cartesian axes intersecting at a world origin (0,0,0);
b) measuring said absolute pose optically from on-board said elongate object with an optical arrangement mounted at a top end of said elongate object and using said invariant feature in a pose recovery technique comprising geometric invariance, said absolute pose comprising measured values of parameters (φ,θ,ψ,x,y,z) representing Euler rotated object coordinates parameterized by object coordinate vectors (X,Y,Z) with said parameters (φ,θ,ψ) being Euler angles defining an orientation of said elongate object with respect to Cartesian axes Xo, Yo, Zo of world coordinates (Xo,Yo,Zo), and with said parameters (x,y,z) being the position of a point on said elongate object expressed in said world coordinates with respect to said world origin (0,0,0);
c) preparing pose data corresponding to said absolute pose;
d) identifying a subset of said pose data;
and
e) transmitting said subset to an application.

3 more elements

Dependencies are inferred from the claim text.

Processing pose data derived from the pose of an elongate object

Life of this patent

Processing pose data derived from the pose of an elongate object

Life of this patent

Abstract

Claims30