System and method for human interaction with virtual objects

1. A system for human interaction with virtual objects, comprising:

a touch sensitive surface, configured to detect a position of a contact made on the touch sensitive surface;

a reference layer rigidly attached to at least one side of the touch sensitive surface, wherein the reference layer comprises:

a light guide plate;

a fiducial layer comprising one or more patterns; and

a light source positioned such that light emitted from the light source enters the light guide plate through a lateral side of the light guide plate, is internally reflected down a length of the light guide plate, and is redirected to illuminate the fiducial layer and form the one or more patterns in an image frame;

a wearable display device, configured to display a virtual object that is registered in a reference coordinate fixed with respect to the touch sensitive surface;

one or more image sensors rigidly attached to the display device, configured to capture an image of at least a portion of the one or more patterns in the reference layer; and

at least one processor, configured to:

determine a position and an orientation of the display device relative to the touch sensitive surface based, at least in part, on image data associated with the one or more patterns found in the captured image;

access touch data from the touch sensitive surface, the touch data comprising a detected position of contact made on the touch sensitive surface;

cause the virtual object to be displayed by the wearable display device;

generate a manipulation with the virtual object based on the detected position of the contact made on the touch sensitive surface; and

cause the manipulation with the virtual object to be displayed by the wearable display device.

2. The system of claim 1 , wherein the one or more patterns comprises light transmissive portions and light blocking portions.

3. The system of claim 1 , wherein the one or more patterns comprises a light absorbing portion.

4. The system of claim 1 , wherein the virtual object is a two-dimensional virtual object.

5. The system of claim 1 , wherein the virtual object is a three-dimensional virtual object.

6. The system of claim 1 , wherein the display device is a see-through display device.

7. The system of claim 1 , wherein the one or more patterns comprise one or a plurality of fiducial markers.

8. The system of claim 7 , wherein the one or plurality of fiducial markers are configured to absorb infrared light, and the one or more image sensors are configured to sense infrared light.

9. The system of claim 7 , where each of the one or plurality of fiducial markers comprises a rectangle containing an internal grid representation of binary codes.

10. The system of claim 7 , wherein each of the one or plurality of fiducial markers comprises a plurality of image features with known positions, wherein each of the image feature corresponds to a unique feature descriptor.

11. The system of claim 1 , wherein the planar light source layer is positioned underneath the fiducial layer and wherein light the light transmissive portions and the light blocking portions of the fiducial layer are configured as a mask.

12. The system of claim 1 , wherein the planar light source layer is positioned between the touch sensitive surface and the fiducial layer.

13. A method for human interaction with virtual objects, the method comprising:

detecting a position of a contact made on a touch sensitive surface;

displaying, via a display device, a virtual object that is registered in a reference coordinate fixed with respect to the touch sensitive surface;

emitting, via a light source, light into a lateral side of a light guide plate to a illuminate one or more patterns of a fiducial layer of a reference layer rigidly attached to at least one side of the touch sensitive surface;

capturing, with one or more image sensors rigidly attached to the display device, an image of at least a portion of the one or more patterns;

determining a position and an orientation of the display device with respect to the touch sensitive surface based on the captured image;

accessing touch data from the touch sensitive surface, the touch data comprising a detected position of contact made on the touch sensitive surface;

causing the virtual object to be displayed by the display device;

generating a manipulation with the virtual object based on the detected position of the contact; and

causing the manipulation with the virtual object to be displayed by the display device.

14. The method of claim 13 , wherein the one or more patterns of the fiducial layer comprises a light transmissive portion and a light blocking portion, and wherein the method further comprises:

transmitting, via the one or more patterns of the fiducial layer, light through the light transmissive portion; and

blocking, via the one or more patterns of the fiducial layer, light via the light blocking portion.

15. The method of claim 13 , wherein the one or more patterns of the fiducial layer comprises a light absorbing portion and wherein the method further comprises absorbing, via the one or more patterns of the fiducial layer, light via the light absorbing portion.

16. The method of claim 13 , wherein the one or more patterns comprises a fiducial marker.

17. The method of claim 13 , wherein the one or more patterns comprises a light source with a known position.

18. The method of claim 13 , wherein the one or more patterns comprises a mask and a light source, wherein at least a portion of light emitted from the light source and passing through the mask is captured by the one or more image sensors.