Methods and apparatus for compensating for vehicular motion
A head mounted virtual reality (VR) device including an inertial measurement unit (IMU) is located in a vehicle which may be, and sometimes is, moving. Detected motion attributable to vehicle motion is filtered out based on one or more or all of: vehicle type information, information derived from sensors located in the vehicle external to the head mounted VR device, and/or captured images including a reference point or reference object within the vehicle. An image portion of a simulated VR environment is selected and presented to the user of the head mounted VR device based on the filtered motion information. Thus, the image portion presented to the user of the head mounted VR device is substantially unaffected by vehicle motion and corresponds to user induced head motion.
1. A virtual reality (VR) method comprising:
receiving inertial measurement unit (IMU) measurement information obtained from an inertial measurement unit (IMU) within a head mounted VR device;
processing the received inertial measurement unit measurement information, using a Kalman filter, to filter out at least some detected motion attributable to motion of a vehicle to generate filtered information, said filtered information including at least one of: filtered orientation information or filtered motion information; and
using the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time.
2. The virtual reality (VR) method of claim 1 , wherein using the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time includes:
selecting the portion of the simulated environment to display based on user induced head motion.
3. A virtual reality (VR) method comprising:
determining an initial position and an initial orientation of a head mounted VR device as part of initializing said head mounted VR device while the head mounted VR device is in a vehicle;
receiving inertial measurement unit (IMU) measurement information obtained from an inertial measurement unit (IMU) within the head mounted VR device;
processing the received inertial measurement unit measurement information to filter out at least some detected motion attributable to motion of said vehicle to generate filtered information, said filtered information including at least one of: filtered orientation information or filtered motion information; and
using the determined initial position and initial orientation of the head mounted VR device in addition to the filtered information to control which portion of a simulated environment is displayed to a user at a given time.
4. The virtual reality (VR) method of claim 3 , further comprising:
determining if there is a change in a position of a reference point or a reference object in images captured by a camera included in said head mounted VR device.
5. The virtual reality (VR) method of claim 4 ,
wherein processing the received inertial measurement unit measurement information to filter out at least some detected motion attributable to motion of said vehicle to generate filtered information includes filtering out motion detected during a period of time in which there is no change in the position of the reference point or reference object in images captured by said camera included in the head mounted VR device.
6. The virtual reality (VR) method of claim 3 , wherein using the determined initial position and initial orientation of the head mounted VR device in addition to the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time includes:
selecting the portion of the simulated environment to display based on the estimated position of the head mounted display.
7. The virtual reality (VR) method of claim 3 , wherein using the determined initial position and initial orientation of the head mounted VR device in addition to the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time includes:
selecting the portion of the simulated environment to display based on an orientation of the head mounted VR device.
8. The virtual reality (VR) method of claim 3 , wherein processing the received inertial measurement unit measurement information to filter out at least some detected motion attributable to motion of said vehicle includes using a Kalman filter to remove at least some motion attributable to the vehicle to generate said filtered information.
9. The virtual reality (VR) method of claim 3 ,
wherein using the determined initial position and initial orientation of the head mounted VR device in addition to the filtered information to control which portion of a simulated environment is displayed to a user at a given time includes selecting the portion of the simulated environment to display based on user induced head motion.
10. A virtual reality (VR) method comprising:
receiving inertial sensor based information from an inertial sensor included in a vehicle, said inertial sensor included in the vehicle being external to a head mounted VR device;
receiving inertial measurement unit (IMU) measurement information obtained from an inertial measurement unit (IMU) within the head mounted VR device;
processing the received inertial measurement unit measurement information to filter out at least some detected motion attributable to motion of a vehicle to generate filtered information, said filtered information including at least one of: filtered orientation information or filtered motion information; and
using the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time.
11. The virtual reality (VR) method of claim 10 , further comprising:
determining an initial position and an initial orientation of the head mounted VR device as part of initializing the head mounted VR device while the head mounted VR device is in the vehicle.
12. A head mounted virtual reality (VR) device comprising:
an inertial measurement unit (IMU);
a module configured to receive inertial measurement unit (IMU) measurement information obtained from the inertial measurement unit (IMU) within the head mounted VR device;
a module configured to process the received inertial measurement unit measurement information to filter out at least some detected motion attributable to motion of a vehicle to generate filtered information, said filtered information including at least one of: filtered orientation information or filtered motion information;
a module configured to use the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time, said module configured to use the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time selecting the portion of the simulated environment to display based on user induced head motion; and
an interface for receiving inertial sensor based information from an inertial sensor included in the vehicle, said inertial sensor included in the vehicle being external to the head mounted VR device.
13. A head mounted virtual reality (VR) device comprising:
an inertial measurement unit (IMU);
a module configured to receive inertial measurement unit (IMU) measurement information obtained from the inertial measurement unit (IMU) within the head mounted VR device;
a module configured to process the received inertial measurement unit measurement information to filter out at least some detected motion attributable to motion of a vehicle to generate filtered information, said filtered information including at least one of: filtered orientation information or filtered motion information;
a module configured to use the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time, said module configured to use the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time selecting the portion of the simulated environment to display based on user induced head motion; and
an initialization module configured to determine an initial position and an initial orientation of the head mounted VR device as part of initializing the head mounted VR device while the VR device is in the vehicle.
14. A head mounted virtual reality (VR) device comprising:
an inertial measurement unit (IMU);
a module configured to receive inertial measurement unit (IMU) measurement information obtained from the inertial measurement unit (IMU) within the head mounted VR device;
a module configured to process the received inertial measurement unit measurement information to filter out at least some detected motion attributable to motion of a vehicle to generate filtered information, said filtered information including at least one of: filtered orientation information or filtered motion information; and
a module configured to use the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time, said module configured to use the filtered information in controlling which portion of a simulated environment is displayed to a user at a given time selecting the portion of the simulated environment to display based on user induced head motion; and
wherein the module configured to process the received inertial measurement unit measurement information includes a Kalman filter.