Speckle-based optical navigation on curved tracking surface

1. A speckle-based trackball apparatus for user input, the apparatus comprising:

a trackball configured to be rotated by a user;

an illuminator configured to illuminate a spot area on a curved surface of the trackball with a curved-wavefront illumination beam so that an ensemble of optical features used for motion sensing interact with the illumination beam at different phase points as a function of a location within the illuminated spot area on the curved surface of the trackball;

imaging optics configured to image the optical features emanating from the illuminated spot area of the trackball; and

an array of photosensitive elements configured to detect intensity data relating to the optical features imaged by the imaging optics.

2. The apparatus according to claim 1 , wherein curvature of the curved-wavefront illumination beam is approximately twice the trackball curvature.

3. The apparatus according to claim 1 , wherein a radius of the trackball is less than one centimeter.

4. The apparatus according to claim 1 , wherein a full-width at half-maximum of the curved-wavefront illumination beam at the illuminated spot area of the curved surface of the trackball is less than one millimeter.

5. The apparatus according to claim 1 , wherein the curved-wavefront illumination beam has a focal ratio greater than 2 and less than 8.

6. The apparatus according to claim 1 , wherein the illuminator comprises a coherent light source and an optical lens system to form a spherical-wavefront illumination beam, and wherein the optical features comprise a speckle pattern which is a complex interference pattern created by coherent light reflected from the curved surface of the trackball, and wherein the photosensitive elements comprise photodiodes.

7. The apparatus according to claim 1 , wherein the imaging optics comprise object-telecentric imaging optics such that, during rotation of the trackball, the optical features imaged by the object-telecentric imaging optics are translated but are substantially invariant in appearance.

8. The apparatus according to claim 7 , wherein the object-side telecentric imaging optics comprises:

an aperture; and

a first lens located between the aperture and the illuminated portion of the trackball,

wherein the first lens has a focal length substantially equal to an optical distance between the first lens and the aperture.

9. A method of sensing movement of a trackball for a user input device, the method comprising:

illuminating a portion of the trackball with a curved-wavefront illumination beam so that optical features emanate from the illuminated portion of the trackball;

mapping images of the optical features emanating from the illuminated portion of the trackball to an array of photosensitive elements using imaging optics; and

determining displacement of optical features emanating from the illuminated portion of the trackball in a succession of frames to sense rotational movement of the trackball.

10. The method according to claim 9 , wherein curvature of the curved-wavefront illumination beam is approximately twice the trackball curvature.

11. The method according to claim 9 , wherein a radius of the trackball is less than one centimeter.

12. The method according to claim 9 , wherein a full-width at half-maximum of the curved-wavefront illumination beam at the illuminated portion of the trackball is less than one millimeter.

13. The method according to claim 9 , wherein the curved-wavefront illumination beam has a focal ration greater than 2 and less than 8.

14. The method according to claim 9 , wherein a coherent light source and an optical lens system is used to form the curved-wavefront illumination beam, wherein the optical features comprise a speckle pattern which is a complex interference pattern created by coherent light reflected from a curved surface of the trackball, and wherein the photosensitive elements comprise photodiodes.

15. The method according to claim 9 , wherein the imaging optics comprise object-telecentric imaging optics such that, during rotation of the trackball, the optical features imaged by the object-telecentric imaging optics are translated but are substantially invariant in appearance.

16. The method according to claim 15 , wherein the object-side telecentric imaging optics comprises:

an aperture; and

a first lens located between the aperture and the illuminated portion of the trackball,

wherein the first lens has a focal length substantially equal to an optical distance between the first lens and the aperture.

17. A speckle-based trackball apparatus for user input, the apparatus comprising:

a trackball configured to be rotated by a user;

an illuminator configured to illuminate a portion of the trackball with an illumination beam so that optical features emanate from the illuminated portion of the trackball; and

an imaging lens and an imaging aperture which are configured to image the optical features emanating from the illuminated portion of the trackball onto an array of photosensitive elements which is configured to detect intensity data relating to the optical features,

wherein the imaging aperture is positioned between a back focal plane and an image plane of the imaging lens, and wherein a distance from a principal plane of the imaging lens to the aperture is a focal length, f, of the imaging lens plus mf 2 /(f+md), where m is a magnification of the imaging lens and d is approximately equal to R/(1+cos Θ), where R is the radius of the trackball, and Θ is an illumination incident angle.

18. The apparatus according to claim 17 , where the illuminator comprises a coherent light source and an optical lens system to form a planar-wavefront illumination beam, and wherein the optical features comprise a speckle pattern which is a complex interference pattern created by coherent light reflected from a curved surface of the trackball, and wherein the photosensitive elements comprise photodiodes.

19. A method of sensing movement of a trackball for a user input device, the method comprising:

illuminating a portion of the trackball with an illumination beam so that optical features emanating form the illuminated portion of the trackball onto an array of photosensitive elements which is configured to detect intensity data relating to the optical features, wherein the imaging aperture is positioned between a back focal plane and an image plane of the imaging lens; and

determining displacement of optical features emanating from the illuminated portion of the trackball in a succession of frames to sense rotational movement of the trackball,

wherein the illuminating is performed using a coherent light source and an optical lens system to form a planar-wavefront illumination beam, and wherein the optical features comprise a speckle pattern which is a complex interference pattern created by coherent light reflected from a curved surface of the trackball, and wherein the photosensitive elements comprise photodiodes.

20. The method according to claim 19 , wherein a distance from a principal plane of the imaging lens to the aperture is a focal length, f, of the imaging lens plus mf 2 /(f+md), where m is a magnification of the imaging lens and d is approximately equal to R/(1+cos Θ), where R is the radius of the trackball, and Θ is an illumination incident angle.