WO2005062981A3 - Method and apparatus for determining absolute position of a tip of an elongate object on a plane surface with invariant features - Google Patents

Method and apparatus for determining absolute position of a tip of an elongate object on a plane surface with invariant features Download PDF

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Publication number
WO2005062981A3
WO2005062981A3 PCT/US2004/043645 US2004043645W WO2005062981A3 WO 2005062981 A3 WO2005062981 A3 WO 2005062981A3 US 2004043645 W US2004043645 W US 2004043645W WO 2005062981 A3 WO2005062981 A3 WO 2005062981A3
Authority
WO
WIPO (PCT)
Prior art keywords
tip
features
absolute position
probe radiation
pose
Prior art date
Application number
PCT/US2004/043645
Other languages
French (fr)
Other versions
WO2005062981A2 (en
Inventor
Dale H Buermann
Michael J Mandella
Stewart R Carl
Guanghua G Zhang
Hector H Gonzalez-Banos
Original Assignee
Electronic Scripting Products
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Electronic Scripting Products filed Critical Electronic Scripting Products
Priority to JP2006547475A priority Critical patent/JP5425368B2/en
Priority to CA2550658A priority patent/CA2550658C/en
Priority to EP04818087.1A priority patent/EP1706314B1/en
Publication of WO2005062981A2 publication Critical patent/WO2005062981A2/en
Priority to KR1020067014617A priority patent/KR101076938B1/en
Publication of WO2005062981A3 publication Critical patent/WO2005062981A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03545—Pens or stylus
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K11/00—Methods or arrangements for graph-reading or for converting the pattern of mechanical parameters, e.g. force or presence, into electrical signal
    • G06K11/06—Devices for converting the position of a manually-operated writing or tracing member into an electrical signal
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/0304—Detection arrangements using opto-electronic means
    • G06F3/0317—Detection arrangements using opto-electronic means in co-operation with a patterned surface, e.g. absolute position or relative movement detection for an optical mouse or pen positioned with respect to a coded surface
    • G06F3/0321—Detection arrangements using opto-electronic means in co-operation with a patterned surface, e.g. absolute position or relative movement detection for an optical mouse or pen positioned with respect to a coded surface by optically sensing the absolute position with respect to a regularly patterned surface forming a passive digitiser, e.g. pen optically detecting position indicative tags printed on a paper sheet
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks

Abstract

A method and apparatus for determining a pose of an elongate object and an absolute position of its tip while the tip is in contact with a plane surface having invariant features. The surface and features are illuminated with a probe radiation and a scattered portion, e.g., the back-scattered portion, of the probe radiation returning from the plane surface and the feature to the elongate object at an angle 2 with respect to an axis of the object is detected. The pose is derived from a response of the scattered portion to the surface and the features and the absolute position of the tip on the surface is obtained from the pose and knowledge about the feature. The probe radiation can be directed from the object to the surface at an angle Q to the axis of the object in the form of a scan beam. The scan beam can be made to follow a scan pattern with the aid of a scanning arrangement with one or more arms and one or more uniaxial or biaxial scanners. Angle t can also be varied, e.g., with the aid of a separate or the same scanning arrangement as used to direct probe radiation to the surface. The object can be a pointer, a robotic arm, a cane or a jotting implement such as a pen, and the features can be edges, micro-structure or macro-structure belonging to, deposited on or attached to the surface which the tip of the object is contacting.
PCT/US2004/043645 2003-12-22 2004-12-22 Method and apparatus for determining absolute position of a tip of an elongate object on a plane surface with invariant features WO2005062981A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2006547475A JP5425368B2 (en) 2003-12-22 2004-12-22 Method and apparatus for determining the absolute position of the tip of a long object on a plane with invariant features
CA2550658A CA2550658C (en) 2003-12-22 2004-12-22 Method and apparatus for determining absolute position of a tip of an elongate object on a plane surface with invariant features
EP04818087.1A EP1706314B1 (en) 2003-12-22 2004-12-22 Method and apparatus for determining absolute position of a tip of an elongate object on a plane surface with invariant features
KR1020067014617A KR101076938B1 (en) 2003-12-22 2006-07-20 Method and Apparatus for Determining Absolute Position of a Tip of an Elongate Object on a Plane Surface with Invariant

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10/745,371 US7088440B2 (en) 2003-12-22 2003-12-22 Method and apparatus for determining absolute position of a tip of an elongate object on a plane surface with invariant features
US10/745,371 2003-12-22

Publications (2)

Publication Number Publication Date
WO2005062981A2 WO2005062981A2 (en) 2005-07-14
WO2005062981A3 true WO2005062981A3 (en) 2006-11-23

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2004/043645 WO2005062981A2 (en) 2003-12-22 2004-12-22 Method and apparatus for determining absolute position of a tip of an elongate object on a plane surface with invariant features

Country Status (7)

Country Link
US (1) US7088440B2 (en)
EP (1) EP1706314B1 (en)
JP (1) JP5425368B2 (en)
KR (1) KR101076938B1 (en)
CN (1) CN100580697C (en)
CA (1) CA2550658C (en)
WO (1) WO2005062981A2 (en)

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