Input device for AR/VR applications

Patent metadata

Field	Value
Publication number	US-12093438-B2
Application number	US-202117216012-A
Country	US
Kind code	B2
Filing date	Mar 29, 2021
Priority date	Oct 17, 2017
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

An AR/VR input device include a processor(s), an internal measurement unit (IMU), and a plurality of sensors configured to detect emissions received from a plurality of remote emitters. The processor(s) can be configured to: determine a time-of-flight (TOF) of the detected emissions, determine a first estimate of a position and orientation of the input device based on the TOF of a subset of the detected emissions and the particular locations of each of the plurality of sensors on the input device that are detecting the detected emissions, determine a second estimate of the position and orientation of the input device based on the measured acceleration and velocity from the IMU, and continuously update a calculated position and orientation of the input device within the AR/VR environment in real-time based on a Beyesian estimation (e.g., Extended Kalman filter) that utilizes the first estimate and second estimate.

First claim

What is claimed is:

1. A method of reducing inertial measurement unit (IMU) drift in a peripheral device, the method comprising:
receiving movement tracking data corresponding to a movement of the peripheral device within a virtual reality/augmented (ARIVR) environment;
while receiving the movement tracking data corresponding to the movement of the peripheral device:
determining a current field-of-view within the AR/VR environment;
in response to determining that the peripheral device is located within the current field-of-view within the AR/VR environment, setting a movement sensitivity of the peripheral device to a first movement sensitivity value; and
in response to determining that the peripheral device is located outside of the current field-of-view within the AR/VR environment, mitigating IMU drift of the peripheral device by setting the movement sensitivity of the peripheral device to a second movement sensitivity value,
wherein the movement tracking data corresponds to movement of the peripheral device over 6 degrees of freedom:
wherein the movement sensitivity corresponds to an amount of position tracking resolution associated with peripheral device, and
wherein the first movement sensitivity value has a higher position tracking resolution than the second movement sensitivity value, the second movement sensitivity value being a non-zero value.

2. The method of claim 1 wherein the setting of the movement sensitivity of the peripheral device to the first and second sensitivity values corresponds to a same function.

3. The method of claim 1 wherein the peripheral device is a stylus device.

4. A system for reducing tracking drift in a peripheral device, the system comprising:
one or more processors;
one or more machine-readable, non-transitory storage mediums that include instructions configured to cause the one or more processors to perform operations including:
receiving movement tracking data corresponding to a movement of the peripheral device within a virtual reality/augmented (AR/VR) environment;
while receiving the movement tracking data corresponding to the movement of the peripheral device:
determining a current field-of-view within the AR/VR environment;
in response to determining that the peripheral device is located within the current field-of-view within the AR/VR environment, setting a movement sensitivity of the peripheral device to a first movement sensitivity value; and
in response to determining that the peripheral device is located outside of the current field-of-view within the AR/VR environment, mitigating IMU drift of the peripheral device by setting the movement sensitivity of the peripheral device to a second movement sensitivity value,
wherein the movement sensitivity corresponds to an amount of position tracking resolution associated with peripheral device, and
wherein the first movement sensitivity value has a higher position tracking resolution than the second movement sensitivity value, the second movement sensitivity value being a non-zero value.

5. The system of claim 4 wherein the setting of the movement sensitivity of the peripheral device to the first and second sensitivity values corresponds to a same function.

6. The system of claim 4 wherein the peripheral device is a stylus device.

7. A computer-program product tangibly embodied in a machine-readable non-transitory storage medium that includes instructions configured to reducing tracking drift in a peripheral device by causing one or more processors to:
receive movement tracking data corresponding to a movement of a peripheral device within a virtual reality/augmented (AR/VR) environment;
while receiving the movement tracking data corresponding to the movement of the peripheral device:
determine a current field-of-view within the AR/VR environment;
in response to determining that the peripheral device is located within the current field-of-view within the AR/VR environment, set a movement sensitivity of the peripheral device to a first movement sensitivity value; and
in response to determining that the peripheral device is located outside of the current field-of-view within the AR/VR environment, mitigate IMU drift of the peripheral device by setting the movement sensitivity of the peripheral device to a second movement sensitivity value,
wherein the movement sensitivity corresponds to an amount of position tracking resolution associated with peripheral device, and
wherein the first movement sensitivity value has a higher position tracking resolution than the second movement sensitivity value, the second movement sensitivity value being a non-zero value.

8. The computer-program product of claim 7 wherein the setting of the movement sensitivity of the peripheral device to the first and second sensitivity values corresponds to a same function.

Assignees

• Logitech Europe Sa

Inventors

• Connellan Andreas
• Salarian Arash
• Corcoran Fergal
• Chassot Jacques
• Ahern Jerry
• Makarem Laleh
• Gutierrez Mario
• Vlasov Maxim
• Guédat Olivier
• Murphy Padraig
• Perring Richard Peter

Classifications

• G01C21/1652

  with ranging devices, e.g. LIDAR or RADAR · CPC title

• G01C21/1656

  with passive imaging devices, e.g. cameras · CPC title

• G06F3/0346

  with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors · CPC title

• G01S5/0294

  Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering · CPC title

• G01S5/18

  using ultrasonic, sonic or infrasonic waves · CPC title