Object-localization and tracking using ultrasonic pulses with reflection rejection
View Patent ↗Methods and systems are disclosed for determining pose information for at least one of a transmitter and receiver, both of which comprise ultrasonic transducers. A relative position is determined between the transmitter and the receiver and an orientation for at least is also determined. After obtaining field of view data for at least one of the transmitter and receiver, a field of view between them is determined, based at least in part on the field of view data, the determined relative position and the determined orientation. The pose information is then determined by weighting measurements of an ultrasonic signal emitted by the transmitter and received by the receiver based at least in part on the determined field of view relationship.
1. A method comprising:
providing at least a first transmitter comprising an ultrasonic transducer;
providing at least a first receiver comprising an ultrasonic transducer;
determining a relative position in three dimensional space between the first transmitter and the first receiver;
determining an orientation in three dimensional space of at least one of the first transmitter and the first receiver;
obtaining field of view data for the at least one of first transmitter and the first receiver;
determining a field of view relationship between the first transmitter and the first receiver based at least in part on the field of view data, the determined relative position and the determined orientation; and
determining pose information for at least one of the first transmitter and the first receiver by weighting measurements of an ultrasonic signal emitted by the first transmitter and received by the first receiver based at least in part on the determined field of view relationship, wherein the determined field of view relationship includes discriminating whether the received ultrasonic signal is a direct signal or a reflected signal.
2. The method of claim 1 , wherein the weighting the ultrasonic measurements is based on a reception probability for the first receiver of the ultrasonic signal emitted by the first transmitter.
3. The method of claim 2 , wherein generating the field of view relationship between the first transmitter and the first receiver comprises determining the reception probability based on the determined relative position and at least one of:
i) a determined orientation of the first receiver and field of view data for the first receiver; and
ii) a determined orientation of the first transmitter and field of view data for the first transmitter.
4. The method of claim 3 , wherein determining the reception probability for the first receiver of the ultrasonic signal emitted by the first transmitter is based on both:
i) a determined orientation of the first receiver and field of view data for the first receiver; and
ii) a determined orientation of the first transmitter and field of view data for the first transmitter.
5. The method of claim 2 , wherein determining the reception probability comprises using the field of view data to evaluate an angular difference between the relative position between the first receiver and the first transmitter and at least one of:
i) a determined orientation of the first receiver; and
ii) a determined orientation of the first transmitter.
6. The method of claim 1 , wherein the field of view data comprises a definition of a cone describing a range of at least one of transmission and reception of ultrasonic signals.
7. The method of claim 1 , wherein the field of view data comprises a transducer characteristic as a function of angle.
8. The method of claim 1 , wherein determining at least one of the relative position and the orientation is based at least in part on transmitting and receiving ultrasonic signals.
9. The method of claim 1 , wherein at least one of the first transmitter and the first receiver further comprises an inertial measurement unit and wherein at least one of the determined relative position and the determined orientation is based at least in part on information from the inertial measurement unit.
10. The method of claim 1 , wherein at least one of the first transmitter and the first receiver further comprises an inertial measurement unit and wherein the weighting measurements of an ultrasonic signal emitted by the first transmitter and received by the first receiver is further based in part on pose information from the inertial measurement unit.
11. The method of claim 1 , wherein the weighting excludes measurements of the received ultrasonic signal when the received ultrasonic signal is a reflected signal.
12. The method of claim 1 , wherein the weighting uses a nonzero weight when the received ultrasonic signal is a direct signal.
13. The method of claim 1 , further comprising fully weighting measurements of an ultrasonic signal during initialization until a threshold is exceeded.
14. A system for tracking at least one object, comprising:
a first transmitter having an ultrasonic transducer;
a first receiver having an ultrasonic transducer, wherein the at least one object comprises either the first transmitter or the first receiver; and
at least one processor configured to:
determine a relative position in three dimensional space between the first transmitter and the first receiver;
determine an orientation in three dimensional space of at least one of the first transmitter and the first receiver;
obtain field of view data for at least one of the first transmitter and the first receiver;
determine a field of view relationship between the first transmitter and the first receiver based at least in part on the field of view data, the determined relative position and the determined orientation; and
determine pose information for at least one of the first transmitter and the first receiver by weighting measurements of an ultrasonic signal emitted by the first transmitter and received by the first receiver based at least in part on the determined field of view relationship, wherein the determined field of view relationship includes discriminating whether the received ultrasonic signal is a direct signal or a reflected signal.
15. The system of claim 14 , wherein the at least one of the first transmitter and the first receiver further comprises an inertial measurement unit and wherein at least one of the determined relative distance and the determined orientation is based at least in part on information from the inertial measurement unit.
16. The system of claim 14 , wherein the other of first transmitter or the first receiver is a base station.
17. The system of claim 16 , wherein the at least one object is a handheld controller.
18. The system of claim 16 , wherein the at least one object is wearable worn by a human.
19. The system of claim 16 , wherein the base station is a head-mounted display worn by a human.
20. A sensor processing unit comprising:
a sensor; and
at least one processor configured to:
determine a relative position in three dimensional space between a first ultrasonic transmitter and a first ultrasonic receiver;
determine an orientation in three dimensional space of at least one of the first transmitter and the first receiver;
obtain field of view data for at least one of the first transmitter and the first receiver;
determine a field of view relationship between the first transmitter and the first receiver based at least in part on the field of view data, the determined relative position and the determined orientation; and
determine pose information for at least one of the first transmitter and the first receiver by weighting measurements of an ultrasonic signal emitted by the first transmitter and received by the first receiver based at least in part on the determined field of view relationship, wherein the determined field of view relationship includes discriminating whether the received ultrasonic signal is a direct signal or a reflected signal.
21. The sensor processing unit of claim 20 , wherein the sensor comprises one of the first ultrasonic transmitter and the first ultrasonic receiver.