Orientation determination utilizing a cordless device
View Patent ↗A system for generating orientation information includes a reflector, an image collection system, and a processor. The image collection system is configured to collect at least two sets of image data, where one set of image data includes a stronger indication of the reflector than the other set of image data. The two sets of image data are collected using at least one reflector with some orientation-specific characteristic or a reflector integrated into a device that includes some orientation-specific structural feature. Once collected, the two sets of image data are used to generate orientation information related to the reflector. In particular, orientation information related to the reflector is generated by taking the difference between the two sets of image data.
1. A system for generating orientation information, the system comprising:
a reflector;
an image collection system configured to generate a first set of image data and a second set of image data, wherein the first set of image data includes a stronger indication of the reflector than the second set of image data; and
a processor configured to use the first set of image data and the second set of image data to generate orientation information related to the reflector, wherein the orientation information characterizes rotation of the reflector about an axis;
wherein the image collection system comprises an imager and first and second light sources that generate light of different wavelengths, the first light source and the second light source having similar illumination angles and wherein a wavelength-selective filter is located between the light sources and the imager, the first set of image data being generated in response to a reflected portion of light from the first light source and the second set of image data being generated in response to a reflected portion of light from the second light source.
2. The system of claim 1 wherein the reflector has an orientation-specific characteristic.
3. The system of claim 1 further comprising multiple reflectors in an orientation-specific arrangement.
4. The system of claim 1 wherein the reflector is integrated into a device comprising an orientation-specific structural feature.
5. The system of claim 4 wherein the orientation-specific structural feature is a cavity within which the reflector is located.
6. The system of claim 1 further including multiple reflectors located within cavities of a device.
7. The system of claim 1 wherein the processor is configured to take the intensity difference between the first set of image data and the second set of image data, wherein taking the intensity difference between the first set of image data and the second set of image data produces a difference image.
8. The system of claim 7 wherein the processor is configured to compare the difference image to known image information.
9. The system of claim 1 wherein the processor is further configured to use the first set of image data and the second set of image data to generate position information related to the reflector.
10. The system of claim 1 wherein the reflector is a retroreflector.
11. The system of claim 1 wherein the image collection system comprises a light source and an imager wherein a detection angle is defined between the reflector and the imager and wherein the first set of image data is on-axis image data and the second set of image data is off-axis image data, wherein the on-axis image data is generated in response to an illumination beam having a first illumination angle relative to the detection angle and the off-axis image data is generated in response to an illumination beam having a second illumination angle relative to the detection angle, wherein the first illumination angle is smaller than the second illumination angle, wherein the first illumination angle, the second illumination angle, and the detection angle are measured relative to a plane of a major surface of the imager.
12. The system of claim 11 wherein a hybrid filter is located over the imager.
13. The system of claim 1 wherein the reflector is covered with a wavelength-selective filter.
14. The system of claim 1 further comprising a wavelength-selective filter located between the reflector and the image collection system.
15. A method for generating orientation information, the method comprising:
illuminating a reflector;
generating a first set of image data and a second set of image data, wherein the first set of image data includes a stronger indication of the reflector than the second set of image data; and
generating orientation information related to the reflector using the first set of image data and the second set of image data, wherein the orientation information characterizes rotation of the reflector about an axis;
wherein generating orientation information comprises:
taking the intensity difference between the first set of image data and the second set of image data, wherein taking the intensity difference between the first set of image data and the second set of image data produces a difference image; and
comparing the difference image to known image information to determine if features in the difference image match a known retroreflector characteristic.
16. The method of claim 15 wherein the reflector has an orientation-specific characteristic.
17. The method of claim 16 further comprising generating position information related to the reflectors using the first set of image data and the second set of image data.
18. The method of claim 15 further comprising multiple reflectors in an orientation-specific arrangement.
19. The method of claim 15 wherein the reflector is integrated into a device comprising an orientation-specific structural feature.
20. The method of claim 15 wherein the first set of image data is generated in response to light that has a first illumination angle and the second set of image data is generated in response to light that has a second illumination angle, wherein the first illumination angle and the second illumination angle are similar.
21. The method of claim 15 wherein generating the first set of image data and the second set of image data includes filtering light with a hybrid filter.
22. The method of claim 15 further including filtering the light that illuminates the reflector before generating the first set of image data and the second set of image data.
23. The method of claim 15 wherein the first set of image data is generated in response to light that has a first illumination angle and the second set of image data is generated in response to light that has a second illumination, wherein the first illumination angle is smaller than the second illumination angle.
24. A method for generating position information and orientation information, the method comprising:
illuminating a pointing device that includes a retroreflector;
generating a first set of image data in response to the illumination;
generating a second set of image data in response to the illumination, wherein the first set of image data includes a stronger indication of the retroreflector than the second set of image data; and
generating position information and orientation information related to the retroreflector using the first set of image data and the second set of image data, wherein the position information characterizes translation of the pointing device along an axis and the orientation information characterizes rotation of the pointing device about an axis;
wherein generating position and orientation information comprises:
taking the intensity difference between the first set of image data and the second set of image data, wherein taking the intensity difference between the first set of image data and the second set of image data produces a difference image; and
comparing the difference image to known image information to determine if features in the difference image match a known retroreflector characteristic.
25. The method of claim 24 wherein the retroreflector has an orientation-specific characteristic.
26. The method of claim 24 further comprising multiple retroreflectors in an orientation-specific arrangement.
27. The method of claim 24 wherein the retroreflector is integrated into an orientation-specific structural feature of the pointing device.