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1. WO2020192895 - DETERMINING A TRANSFORMATION BETWEEN COORDINATE SYSTEMS IN AN ULTRASONIC HAPTIC DEVICE AND A VISUAL SENSOR DEVICE

Publication Number WO/2020/192895
Publication Date 01.10.2020
International Application No. PCT/EP2019/057596
International Filing Date 26.03.2019
IPC
G06F 3/01 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
G06F 3/042 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
03Arrangements for converting the position or the displacement of a member into a coded form
041Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
042by opto-electronic means
CPC
G06F 3/011
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
011Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
G06F 3/016
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
016Input arrangements with force or tactile feedback as computer generated output to the user
G06F 3/017
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
017Gesture based interaction, e.g. based on a set of recognized hand gestures
G06F 3/0425
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
3Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01Input arrangements or combined input and output arrangements for interaction between user and computer
03Arrangements for converting the position or the displacement of a member into a coded form
041Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
042by opto-electronic means
0425using a single imaging device like a video camera for tracking the absolute position of a single or a plurality of objects with respect to an imaged reference surface, e.g. video camera imaging a display or a projection screen, a table or a wall surface, on which a computer generated image is displayed or projected
Applicants
  • TELEFONAKTIEBOLAGET LM ERICSSON (PUBL) [SE]/[SE]
Inventors
  • ARAÚJO, José
  • TAHER KOUHESTANI, Amirhossein
  • ANDERSSON, Lars
  • GONZALEZ MORIN, Diego
  • KARAGIANNIS, Ioannis
  • MUDDUKRISHNA, Ananya
Agents
  • ERICSSON
Priority Data
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) DETERMINING A TRANSFORMATION BETWEEN COORDINATE SYSTEMS IN AN ULTRASONIC HAPTIC DEVICE AND A VISUAL SENSOR DEVICE
(FR) DÉTERMINATION D'UNE TRANSFORMATION ENTRE LES SYSTÈMES DE COORDONNÉES D'UN DISPOSITIF HAPTIQUE ULTRASONORE ET D'UN DISPOSITIF CAPTEUR VISUEL
Abstract
(EN)
It is provided a method for determining a transformation between a first coordinate system of an ultrasonic haptic device and a second coordinate system of a visual sensor device. The method comprises the steps of: triggering (40) generation of an ultrasonic focal point; obtaining (42) images depicting a body part of a user while the ultrasonic focal point is active; determining (44) a position of the ultrasonic focal point in the second coordinate system when the body part of the user is in the ultrasonic focal point; repeating (45) the steps of triggering, obtaining and determining; and calculating (46) a first transformation between the first coordinate system and the second coordinate system based on the positions of the ultrasonic focal points in the first coordinate system and the second coordinate system to thereby calibrate a relationship between the ultrasonic haptic device and the visual sensor device.
(FR)
L'invention concerne un procédé de détermination d'une transformation entre un premier système de coordonnées d'un dispositif haptique ultrasonore et un second système de coordonnées d'un dispositif capteur visuel. Le procédé comprend les étapes consistant à : déclencher (40) la génération d'un foyer ultrasonore ; obtenir (42) des images représentant une partie du corps d'un utilisateur pendant que le foyer ultrasonore est actif ; déterminer (44) une position du foyer ultrasonore dans le second système de coordonnées quand la partie du corps de l'utilisateur se trouve au foyer ultrasonore ; répéter (45) les étapes de déclenchement, d'obtention et de détermination ; et calculer (46) une première transformation entre le premier système de coordonnées et le second système de coordonnées sur la base des positions des foyers ultrasonores dans le premier système de coordonnées et le second système de coordonnées pour ainsi étalonner une relation entre le dispositif haptique ultrasonore et le dispositif capteur visuel.
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