3D pointer mapping
Systems, devices, methods and software are described for mapping movement or motion of a 3D pointing device into cursor position; e.g., for use in rendering the cursor on a display. Absolute and relative type mapping algorithms are described. Mapping algorithms can be combined to obtain beneficial characteristics from different types of mapping.
1. A method for mapping a device's movement into cursor position, comprising:
estimating the device's pose in any one of three to six degrees of freedom;
processing the estimated pose using (i) a first mapping algorithm to generate a velocity vector and (ii) a second mapping algorithm to generate a first cursor position;
determining an adjusted velocity vector, at least in part, by adjusting any of a scale and an angle of the velocity vector to cause a second cursor position resulting from a combination of a current cursor position and the adjusted velocity vector to be closer to the first cursor position than a third cursor position resulting from a combination of the current cursor position and the velocity vector; and
combining the current cursor position with the adjusted velocity vector to generate a final cursor output.
2. The method of claim 1 , wherein the first mapping algorithm comprises a relative pointing algorithm, and wherein the second mapping algorithm comprises an absolute pointing algorithm.
3. The method of claim 2 , wherein the relative pointing algorithm is a user-frame relative pointing algorithm.
4. The method of claim 1 , wherein adjusting any of a scale and an angle of the velocity vector comprises:
adjusting any of the scale and the angle of the velocity vector so as to satisfy any of (i) a limit for an acceptable deviation from a characteristic of the first mapping algorithm and (ii) a limit for an acceptable deviation from a characteristic of the second mapping algorithm.
5. The method of claim 4 , wherein the characteristic of the first mapping algorithm is that cursor responsiveness to any of linear motion and angular motion is consistent over a motion range, and wherein the characteristic of the second mapping algorithm is long-term drift avoidance.
6. The method of claim 1 , wherein adjusting any of a scale and an angle of the velocity vector comprises at least one of:
adjusting the scale of the velocity vector so as to satisfy any of first minimum value, a first and second maximum value and a first combined minimum and maximum values; and
adjusting the angle of the velocity vector so as to satisfy any of a second minimum value, a second maximum value and a second combined minimum and maximum values.
7. The method of claim 1 , wherein the second mapping algorithms maps the estimated angular position into cursor coordinates using an angular position spherical projection.
8. The method of claim 7 , wherein the mapping is performed without using an estimated linear position of the device.
9. The method of claim 1 , wherein estimating the device's angular position is based on at least one output from at least one sensor.
10. An apparatus comprising:
at least one sensor configured to generate an output associated with movement of a device; and
a processor configured to:
estimate the device's pose in any one of three to six degrees of freedom;
process the estimated pose using (i) a first mapping algorithm to generate a velocity vector and (ii) a second mapping algorithm to generate a first cursor position;
determine an adjusted velocity vector, at least in part, by adjusting any of a scale and an angle of the velocity vector to cause a second cursor position resulting from a combination of a current cursor position and the adjusted velocity vector to be closer to the first cursor position than a third cursor position resulting from a combination of the current cursor position and the velocity vector; and
combine the current cursor position with the adjusted velocity vector to generate a final cursor output.
11. The apparatus of claim 10 , wherein the first mapping algorithm comprises a relative pointing algorithm, and wherein the second mapping algorithm comprises an absolute pointing algorithm.
12. The apparatus of claim 11 , wherein the relative pointing algorithm is a user-frame relative pointing algorithm.
13. The apparatus of claim 10 , wherein the processor is configured to adjust any of a scale and an angle of the velocity vector, at least in part, by:
adjusting any of the scale and the angle of the velocity vector so as to satisfy any of (i) a limit for an acceptable deviation from a characteristic of the first mapping algorithm and (ii) a limit for an acceptable deviation from a characteristic of the second mapping algorithm.
14. The apparatus of claim 13 , wherein the characteristic of the first mapping algorithm is that cursor responsiveness to any of linear motion and angular motion is consistent over a motion range, and wherein the characteristic of the second mapping algorithm is long-term drift avoidance.
15. The apparatus of claim 10 , wherein the processor is configured to adjust any of a scale and an angle of the velocity vector, at least in part, by at least one of:
adjusting the scale of the velocity vector so as to satisfy any of first minimum value, a first and second maximum value and a first combined minimum and maximum values; and
adjusting the angle of the velocity vector so as to satisfy any of a second minimum value, a second maximum value and a second combined minimum and maximum values.
16. The apparatus of claim 10 , wherein the second mapping algorithms maps the estimated angular position into cursor coordinates using an angular position spherical projection.
17. The apparatus of claim 16 , wherein the processor is configured to perform the mapping without using an estimated linear position of the device.
18. An apparatus comprising:
at input configured to obtain an estimated pose of a device in any one of three to six degrees of freedom; and
a processor configured to:
process the estimated pose using (i) a first mapping algorithm to generate a velocity vector and (ii) a second mapping algorithm to generate a first cursor position;
determine an adjusted velocity vector, at least in part, by adjusting any of a scale and an angle of the velocity vector to cause a second cursor position resulting from a combination of a current cursor position and the adjusted velocity vector to be closer to the first cursor position than a third cursor position resulting from a combination of the current cursor position and the velocity vector; and
combine the current cursor position with the adjusted velocity vector to generate a final cursor output.
19. The apparatus of claim 18 , wherein the first mapping algorithm comprises a relative pointing algorithm, and wherein the second mapping algorithm comprises an absolute pointing algorithm.
20. The apparatus of claim 18 , wherein the processor is configured to adjust any of a scale and an angle of the velocity vector, at least in part, by at least one of:
adjusting the scale of the velocity vector so as to satisfy any of first minimum value, a first and second maximum value and a first combined minimum and maximum values; and
adjusting the angle of the velocity vector so as to satisfy any of a second minimum value, a second maximum value and a second combined minimum and maximum values.