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

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- Number: US 8,542,219 B2
- Document ID: US8542219B2
- Status: Granted
- Kind: B2
- Application number: 10/769,484
- Filed: 2004-01-30
- Published: 2005-08-04
- Granted: 2013-09-24
- Earliest claimed: 2004-01-30
- Assignees: Electronic Scripting Products, Inc.
- Applicants: Stewart R. Carl; Michael J. Mandella; Guanghua G. Zhang; Hector H. Gonzalez-Banos
- Inventors: Stewart R. Carl; Michael J. Mandella; Guanghua G. Zhang; Hector H. Gonzalez-Banos
- Web page: https://patentgrep.com/patent/US8542219B2

## CPC

- G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)}
- G06F 3/03545: {Pens or stylus}
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## 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.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The method of claim 1, wherein said elongate object is undergoing a motion and said measuring is performed periodically at measurement times ti, such that said pose data describes said motion.

### Claim 3 (depends on 1)

The method of claim 1, wherein said subset comprises orientation data.

### Claim 4 (depends on 3)

The method of claim 3, wherein said subset comprises an inclination angle θ.

### Claim 5 (depends on 3)

The method of claim 3, wherein said subset comprises at least one Euler angle.

### Claim 6 (depends on 3)

The method of claim 3, wherein said orientation data is used as input selected from the group consisting of control data and input data.

### Claim 7 (depends on 2)

The method of claim 2, wherein said subset comprises position data of said tip on said surface.

### Claim 8 (depends on 7)

The method of claim 7, wherein said position data comprises a position of said tip relative to said invariant feature.

### Claim 9 (depends on 7)

The method of claim 7, wherein said position data comprises an absolute position of said tip on said surface.

### Claim 10 (depends on 7)

The method of claim 7, wherein said position data comprises a position of said tip relative to a previous absolute position of said tip on said surface.

### Claim 11 (depends on 7)

The method of claim 7, wherein said position data is used as an input selected from the group consisting of control data and input data.

### Claim 12 (depends on 1)

The method of claim 1, wherein said plane surface comprises a jotting surface and said elongate object is a jotting implement.

### Claim 13 (depends on 12)

The method of claim 12, wherein said jotting surface is selected from the group consisting of a screen, a tablet, a pad and a paper surface.

### Claim 14 (depends on 1)

The method of claim 1, wherein said elongate object is selected from the group consisting of jotting implements, pointers, robotic arms and canes.

### Claim 15 (depends on 14)

The method of claim 14, wherein said jotting implements are selected from the group consisting of pens, pencils and styluses.

### Claim 16

An apparatus for processing pose data derived from an absolute pose of an elongate object having a tip, said apparatus comprising:
a) a plane surface for placing said tip thereon, said plane surface having 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) an optical measuring means mounted at a top end of said elongate object for optically measuring said absolute pose from on-board said elongate object 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 a world origin (0,0,0);
c) a processor for preparing pose data corresponding to said absolute pose and identifying a subset of said pose data; and
d) a communication link for transmitting said subset to an application.

### Claim 17 (depends on 16)

The apparatus of claim 16, wherein said optical measuring means comprises a periodic measurements means for periodically measuring said absolute pose at measurement times ti.

### Claim 18 (depends on 16)

The apparatus of claim 16, wherein said processor is mounted on said elongate object.

### Claim 19 (depends on 16)

The apparatus of claim 16, wherein said communication link is a wireless communication link.

### Claim 20 (depends on 16)

The apparatus of claim 16, wherein said elongate object is selected from the group consisting of jotting implements, pointers, robotic arms and canes.

### Claim 21 (depends on 20)

The apparatus of claim 20, wherein said jotting implements are selected from the group consisting of pens, pencils and styluses.

### Claim 22 (depends on 16)

The apparatus of claim 16, wherein said application comprises a data file and said subset comprises input data to said data file.

### Claim 23 (depends on 16)

The apparatus of claim 16, wherein said application comprises an executable file and said subset comprises control data to said executable file.

### Claim 24 (depends on 16)

The apparatus of claim 16, wherein said application comprises a motion-capture application.

### Claim 25 (depends on 24)

The apparatus of claim 24, wherein said motion-capture application comprises a biometric application.

### Claim 26 (depends on 25)

The apparatus of claim 25, wherein said biometric application comprises a user verification application.

### Claim 27 (depends on 16)

The apparatus of claim 16, wherein said application comprises a trace-capture application.

### Claim 28 (depends on 27)

The apparatus of claim 27, wherein said trace-capture application comprises a handwriting recognition application.

### Claim 29 (depends on 27)

The apparatus of claim 27, wherein said trace-capture application comprises a signature verification application.

### Claim 30 (depends on 27)

The apparatus of claim 27, wherein said trace-capture application comprises a Boolean logic symbol reformatting function.