U.S. patent application number 15/207302 was filed with the patent office on 2016-11-03 for method for mapping movements of a hand-held controller to game commands.
The applicant listed for this patent is Sony Interactive Entertainment Inc.. Invention is credited to Xiaodong Mao, Richard Marks, Gary M. Zalewski.
Application Number | 20160317926 15/207302 |
Document ID | / |
Family ID | 37574101 |
Filed Date | 2016-11-03 |
United States Patent
Application |
20160317926 |
Kind Code |
A1 |
Zalewski; Gary M. ; et
al. |
November 3, 2016 |
METHOD FOR MAPPING MOVEMENTS OF A HAND-HELD CONTROLLER TO GAME
COMMANDS
Abstract
One embodiment provides a method for use in a game that includes
the steps of receiving position information for a controller that
is being manipulated by a user, analyzing the position information
to determine whether a predetermined movement of the controller
associated with a command has been performed, and executing the
command if the predetermined movement of the controller associated
with the command has been performed.
Inventors: |
Zalewski; Gary M.;
(Piedmont, CA) ; Marks; Richard; (Pleasanton,
CA) ; Mao; Xiaodong; (Foster City, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Sony Interactive Entertainment Inc. |
Tokyo |
|
JP |
|
|
Family ID: |
37574101 |
Appl. No.: |
15/207302 |
Filed: |
July 11, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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11382039 |
May 7, 2006 |
9393487 |
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15207302 |
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11381721 |
May 4, 2006 |
8947347 |
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11382039 |
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10207677 |
Jul 27, 2002 |
7102615 |
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11381721 |
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10650409 |
Aug 27, 2003 |
7613310 |
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10207677 |
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10663236 |
Sep 15, 2003 |
7883415 |
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10650409 |
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10759782 |
Jan 16, 2004 |
7623115 |
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10663236 |
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10820469 |
Apr 7, 2004 |
7970147 |
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10759782 |
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11301673 |
Dec 12, 2005 |
7646372 |
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10820469 |
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11381728 |
May 4, 2006 |
7545926 |
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11301673 |
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11381725 |
May 4, 2006 |
7783061 |
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11381728 |
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11381727 |
May 4, 2006 |
7697700 |
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11381725 |
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11381724 |
May 4, 2006 |
8073157 |
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11381727 |
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11381729 |
May 4, 2006 |
7809145 |
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11381724 |
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60718145 |
Sep 15, 2005 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A63F 2300/6045 20130101;
A63F 13/22 20140902; A63F 2300/207 20130101; A63F 13/06 20130101;
A63F 2300/1087 20130101; A63F 2300/105 20130101; A63F 13/213
20140902; A63F 13/428 20140902; A63F 13/25 20140902; A63F 13/211
20140902 |
International
Class: |
A63F 13/428 20060101
A63F013/428; A63F 13/213 20060101 A63F013/213; A63F 13/25 20060101
A63F013/25; A63F 13/211 20060101 A63F013/211 |
Claims
1. A method for use in a game, comprising the steps of: receiving
position information for a controller that is being manipulated by
a user; analyzing the position information to determine whether a
predetermined movement of the controller associated with a command
has been performed; and executing the command if the predetermined
movement of the controller associated with the command has been
performed.
2. A method in accordance with claim 1, further comprising the step
of: generating an interrupt for the game if the predetermined
movement of the controller associated with the command has been
performed.
3. A method in accordance with claim 1, wherein the step of
analyzing comprises the step of: determining whether the position
information for the controller indicates that it has fallen within
certain ranges associated with the a predetermined movement of the
controller associated with a command.
4. A method in accordance with claim 1, further comprising the step
of: receiving on an image plane of a camera a projection of a
geometric shape established on the controller.
5. A method in accordance with claim 4, further comprising the step
of: analyzing movements and deformities in the projection of the
geometric shape.
6. A computer program product comprising a medium for embodying a
computer program for input to a computer and a computer program
embodied in the medium for causing the computer to perform steps
of: receiving position information for a controller that is being
manipulated by a user; analyzing the position information to
determine whether a predetermined movement of the controller
associated with a command has been performed; and executing the
command if the predetermined movement of the controller associated
with the command has been performed.
7. A computer program product in accordance with claim 6, further
comprising the step of: generating an interrupt for the game if the
predetermined movement of the controller associated with the
command has been performed.
8. A computer program product in accordance with claim 6, wherein
the step of analyzing comprises the step of: determining whether
the position information for the controller indicates that it has
fallen within certain ranges associated with the a predetermined
movement of the controller associated with a command.
9. A computer program product in accordance with claim 6, further
comprising the step of: receiving on an image plane of a camera a
projection of a geometric shape established on the controller.
10. A computer program product in accordance with claim 9, further
comprising the step of: analyzing movements and deformities in the
projection of the geometric shape.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 11/382,039, filed on May 7, 2006, entitled
"METHOD FOR MAPPING MOVEMENTS OF A HAND-HELD CONTROLLER TO GAME
COMMANDS", the entire disclosure of which is hereby fully
incorporated by reference herein in its entirety, and which claims
priority to the following applications as follows:
[0002] U.S. patent application Ser. No. 11/382,039 is a
continuation in part (CIP) of U.S. patent application Ser. No.
10/207,677, entitled, "MAN-MACHINE INTERFACE USING A DEFORMABLE
DEVICE", filed on Jul. 27, 2002; U.S. patent application Ser. No.
10/650,409, entitled, "AUDIO INPUT SYSTEM", filed on Aug. 27, 2003;
U.S. patent application Ser. No. 10/663,236, entitled "METHOD AND
APPARATUS FOR ADJUSTING A VIEW OF A SCENE BEING DISPLAYED ACCORDING
TO TRACKED HEAD MOTION", filed on Sep. 15, 2003; U.S. patent
application Ser. No. 10/759,782, entitled "METHOD AND APPARATUS FOR
LIGHT INPUT DEVICE", filed on Jan. 16, 2004; U.S. patent
application Ser. No. 10/820,469, entitled "METHOD AND APPARATUS TO
DETECT AND REMOVE AUDIO DISTURBANCES", filed on Apr. 7, 2004; and
U.S. patent application Ser. No. 11/301,673, entitled "METHOD FOR
USING RELATIVE HEAD AND HAND POSITIONS TO ENABLE A POINTING
INTERFACE VIA CAMERA TRACKING", filed on Dec. 12, 2005; U.S. patent
application Ser. No. 11/381,721, to Xiao Dong Mao, entitled ULTRA
SMALL MICROPHONE ARRAY, (Attorney Docket SCEA05062US00), filed on
May 4, 2006, Application Ser. No. 11/381,728, to Xiao Dong Mao,
entitled ECHO AND NOISE CANCELLATION, (Attorney Docket
SCEA05064US00), filed on May 4, 2006, U.S. patent application Ser.
No. 11/381,725, to Xiao Dong Mao, entitled "METHODS AND APPARATUS
FOR TARGETED SOUND DETECTION", (Attorney Docket SCEA05072US00),
filed on May 4, 2006, U.S. patent application Ser. No. 11/381,727,
to Xiao Dong Mao, entitled "NOISE REMOVAL FOR ELECTRONIC DEVICE
WITH FAR FIELD MICROPHONE ON CONSOLE", (Attorney Docket
SCEA05073US00), filed on May 4, 2006, U.S. patent application Ser.
No. 11/381,724, to Xiao Dong Mao, entitled "METHODS AND APPARATUS
FOR TARGETED SOUND DETECTION AND CHARACTERIZATION", (Attorney
Docket SCEA05079US00), filed on May 4, 2006, U.S. patent
application Ser. No. 11/381,721, to Xiao Dong Mao, entitled
"SELECTIVE SOUND SOURCE LISTENING IN CONJUNCTION WITH COMPUTER
INTERACTIVE PROCESSING", (Attorney Docket SCEA04005JUMBOUS), filed
on May 4, 2006, all of which are hereby incorporated by
reference.
[0003] U.S. patent application Ser. No. 11/382,039 also claims
benefit of U.S. Provisional Patent Application No. 60/718,145,
entitled "AUDIO, VIDEO, SIMULATION, AND USER INTERFACE PARADIGMS",
filed Sep. 15, 2005, which is hereby incorporated by reference.
RELATED APPLICATIONS
[0004] This application is also related to co-pending application
Ser. No. ______, to Xiao Dong Mao, entitled "METHODS AND
APPARATUSES FOR ADJUSTING A LISTENING AREA FOR CAPTURING SOUNDS",
(Attorney Docket SCEA-00300) filed on May 4, 2006, the entire
disclosures of which are incorporated herein by reference. This
application is also related to co-pending application Ser. No.
______, to Xiao Dong Mao, entitled "METHODS AND APPARATUSES FOR
CAPTURING AN AUDIO SIGNAL BASED ON VISUAL IMAGE", (Attorney Docket
SCEA-00400), filed on May 4, 2006, the entire disclosures of which
are incorporated herein by reference. This application is also
related to co-pending application Ser. No. ______, to Xiao Dong
Mao, entitled "METHODS AND APPARATUSES FOR CAPTURING AN AUDIO
SIGNAL BASED ON A LOCATION OF THE SIGNAL", (Attorney Docket
SCEA-00500), filed on May 4, 2006, the entire disclosures of which
are incorporated herein by reference. This application is also
related to co-pending application Ser. No. ______, to Richard Marks
et al., entitled "SELECTIVE SOUND SOURCE LISTENING IN CONJUNCTION
WITH COMPUTER INTERACTIVE PROCESSING", (Attorney Docket
SCEA04005US01-SONYP045), filed on May 4, 2006, the entire
disclosures of which are incorporated herein by reference. This
application is also related to co-pending application Ser. No.
______, to Richard Marks et al., entitled "Computer Image and Audio
Processing of Intensity and Input Devices for Interfacing With A
Computer Program", (Attorney Docket SONYP052), filed on May 4,
2006, the entire disclosures of which are incorporated herein by
reference.
[0005] This application is also related to co-pending application
Ser. No. ______, entitled "MULTI-INPUT GAME CONTROL MIXER",
(Attorney Docket SCEA06MXR1), filed on the same day as this
application, the entire disclosures of which are incorporated
herein by reference.
[0006] This application is also related to co-pending application
Ser. No. ______, entitled "SYSTEM FOR TRACKING USER MANIPULATIONS
WITHIN AN ENVIRONMENT", (Attorney Docket SCEAMXR2), filed on the
same day as this application, the entire disclosures of which are
incorporated herein by reference.
[0007] This application is also related to co-pending application
Ser. No. ______, entitled "SYSTEM, METHOD, AND APPARATUS FOR
THREE-DIMENSIONAL INPUT CONTROL", (Attorney Docket SCEA06INRT1),
filed on the same day as this application, the entire disclosures
of which are incorporated herein by reference.
[0008] This application is also related to co-pending application
Ser. No. ______, entitled "INERTIALLY TRACKABLE HAND-HELD
CONTROLLER", (Attorney Docket SCEA06INRT2), filed on the same day
as this application, the entire disclosures of which are
incorporated herein by reference.
[0009] This application is also related to co-pending application
Ser. No. ______, entitled "METHOD AND SYSTEM FOR APPLYING GEARING
EFFECTS TO VISUAL TRACKING", (Attorney Docket SONYP058A), filed on
the same day as this application, the entire disclosures of which
are incorporated herein by reference.
[0010] This application is also related to co-pending application
Ser. No. ______, entitled "METHOD AND SYSTEM FOR APPLYING GEARING
EFFECTS TO INERTIAL TRACKING", (Attorney Docket SONYP058B), filed
on the same day as this application, the entire disclosures of
which are incorporated herein by reference.
[0011] This application is also related to co-pending application
Ser. No. ______, entitled "METHOD AND SYSTEM FOR APPLYING GEARING
EFFECTS TO ACOUSTICAL TRACKING", (Attorney Docket SONYP058C), filed
on the same day as this application, the entire disclosures of
which are incorporated herein by reference.
[0012] This application is also related to co-pending application
Ser. No. ______, entitled "METHOD AND SYSTEM FOR APPLYING GEARING
EFFECTS TO MULTI-CHANNEL MIXED INPUT", (Attorney Docket SONYP058D),
filed on the same day as this application, the entire disclosures
of which are incorporated herein by reference.
[0013] This application is also related to co-pending application
Ser. No. ______, entitled "SCHEME FOR DETECTING AND TRACKING USER
MANIPULATION OF A GAME CONTROLLER BODY", (Attorney Docket
SCEA05082US00), filed on the same day as this application, the
entire disclosures of which are incorporated herein by
reference.
[0014] This application is also related to co-pending application
Ser. No. ______, entitled "SCHEME FOR TRANSLATING MOVEMENTS OF A
HAND-HELD CONTROLLER INTO INPUTS FOR A SYSTEM", (Attorney Docket
86324), filed on the same day as this application, the entire
disclosures of which are incorporated herein by reference.
[0015] This application is also related to co-pending application
Ser. No. ______, entitled "DETECTABLE AND TRACKABLE HAND-HELD
CONTROLLER", (Attorney Docket 86325), filed on the same day as this
application, the entire disclosures of which are incorporated
herein by reference.
[0016] This application is also related to co-pending application
Ser. No. ______, entitled "CONTROLLER WITH INFRARED PORT",
(Attorney Docket SCEA06007US00), filed on the same day as this
application, the entire disclosures of which are incorporated
herein by reference.
[0017] This application is also related to co-pending application
Ser. No. ______, entitled "CONTROLLER WITH TRACKING SENSORS",
(Attorney Docket SCEA06008US00), filed on the same day as this
application, the entire disclosures of which are incorporated
herein by reference.
[0018] This application is also related to co-pending application
Ser. No. ______, entitled "DYNAMIC TARGET INTERFACE", (Attorney
Docket SCEA06009US00), filed on the same day as this application,
the entire disclosures of which are incorporated herein by
reference.
[0019] This application is also related to co-pending application
Ser. No. ______, entitled "TRACKED CONTROLLER DEVICE", (Attorney
Docket SCEA06010US00), filed on the same day as this application,
the entire disclosures of which are incorporated herein by
reference.
BACKGROUND OF THE INVENTION
[0020] 1. Field of the Invention
[0021] The present invention relates generally to computer
entertainment systems, and more specifically to a user's
manipulation of a controller for such computer entertainment
systems.
[0022] 2. Discussion of the Related Art
[0023] Computer entertainment systems typically include a hand-held
controller, game controller, or other controller. A user or player
uses the controller to send commands or other instructions to the
entertainment system to control a video game or other simulation
being played. For example, the controller may be provided with a
manipulator which is operated by the user, such as a joy stick. The
manipulated variable of the joy stick is converted from an analog
value into a digital value, which is sent to the game machine main
frame. The controller may also be provided with buttons that can be
operated by the user.
[0024] It is with respect to these and other background information
factors that the present invention has evolved.
SUMMARY OF THE INVENTION
[0025] One embodiment provides a method for use in a game,
comprising the steps of: receiving position information for a
controller that is being manipulated by a user; analyzing the
position information to determine whether a predetermined movement
of the controller associated with a command has been performed; and
executing the command if the predetermined movement of the
controller associated with the command has been performed.
[0026] Another embodiment provides a computer program product
comprising a medium for embodying a computer program for input to a
computer and a computer program embodied in the medium for causing
the computer to perform steps of: receiving position information
for a controller that is being manipulated by a user; analyzing the
position information to determine whether a predetermined movement
of the controller associated with a command has been performed; and
executing the command if the predetermined movement of the
controller associated with the command has been performed.
[0027] A better understanding of the features and advantages of
various embodiments of the present invention will be obtained by
reference to the following detailed description and accompanying
drawings which set forth an illustrative embodiment in which
principles of embodiments of the invention are utilized.
BRIEF DESCRIPTION OF THE DRAWINGS
[0028] The above and other aspects, features and advantages of
embodiments of the present invention will be more apparent from the
following more particular description thereof, presented in
conjunction with the following drawings wherein:
[0029] FIG. 1A is a pictorial diagram illustrating a system that
operates in accordance with an embodiment of the present
invention;
[0030] FIG. 1B is a perspective view of a controller made in
accordance with an embodiment of the present invention;
[0031] FIG. 2A is a pictorial diagram illustrating a manner for
determining position information for a controller in accordance
with an embodiment of the present invention;
[0032] FIG. 2B is a planar view of an image plane illustrating a
manner for determining position information for a controller in
accordance with an embodiment of the present invention;
[0033] FIG. 3A is a flow diagram illustrating a method for use in
obtaining information in accordance with an embodiment of the
present invention;
[0034] FIG. 3B is a flow diagram illustrating a method for use in
providing input to a system in accordance with an embodiment of the
present invention;
[0035] FIG. 4 is a block diagram illustrating a system that may be
used to run, implement and/or execute the methods and techniques
shown and described herein in accordance with embodiments of the
present invention; and
[0036] FIG. 5 is a block diagram illustrating a processor that may
be used to run, implement and/or execute the methods and techniques
shown and described herein in accordance with embodiments of the
present invention.
DETAILED DESCRIPTION
[0037] The user or player of a video game typically holds the game
controller with one or both hands in order to operate the buttons,
joy stick, etc., located on the controller. Often times while
playing the game the user will also move the entire controller
itself around in the air as he or she simultaneously operates the
buttons, joy stick, etc. Some users tend to get excited while
playing the game and attempt to control actions or aspects of the
game by moving the entire controller itself around in the air.
[0038] Various embodiments of the methods, apparatus, schemes and
systems described herein provide for the detection, capture and
tracking of the movements, motions and/or manipulations of the
entire controller body itself by the user. The detected movements,
motions and/or manipulations of the entire controller body by the
user may be used as additional commands to control various aspects
of the game or other simulation being played.
[0039] Detecting and tracking a user's manipulations of a game
controller body may be implemented in different ways. For example,
in some embodiments a camera peripheral can be used with the
computer entertainment system to detect motions of the hand-held
controller body and transfer them into actions in a game. The
camera can be used to detect many different types of motions of the
controller, such as for example up and down movements, twisting
movements, side to side movements, jerking movements, wand-like
motions, plunging motions, etc. Such motions may correspond to
various commands such that the motions are transferred into actions
in a game.
[0040] Detecting and tracking the user's manipulations of a game
controller body can be used to implement many different types of
games, simulations, etc., that allow the user to, for example,
engage in a sword or lightsaber fight, use a wand to trace the
shape of items, engage in many different types of sporting events,
engage in on-screen fights or other encounters, etc.
[0041] Referring to FIG. 1A, there is illustrated a system 100 that
operates in accordance with an embodiment of the present invention.
As illustrated, a computer entertainment system or console 102 uses
a television or other video display 104 to display the images of
the video game or other simulation thereon. The game or other
simulation may be stored on a DVD, CD, flash memory, USB memory, or
other memory media 106 that is inserted into the console 102. A
user or player 108 manipulates a game controller 110 to control the
video game or other simulation.
[0042] A camera or other video image capturing device 112 is
positioned so that the controller 110 is within the camera's field
of view 114. As illustrated, the camera 110 may be placed on the
video display 104, but it should be well understood that the camera
may be located elsewhere. By way of example, the camera 112 may
comprise a camera peripheral device such as the commercially
available iToy.TM. product. But it should be well understood that
any type or brand of camera may be used, such as for example a
web-cam camera, add-on USB camera, infrared (IR) capability camera,
fast frame capture rate camera, etc.
[0043] During operation, the user 108 physically moves the
controller 110 itself. That is, the user 108 physically moves the
entire controller 110 around in the air. For example, the
controller 110 may be moved in any direction by the user 108, such
as up, down, to one side, to the other side, twisted, rolled,
shaken, jerked, plunged, etc. These movements of the controller 110
itself may be detected and captured by the camera 112 by way of
tracking through image analysis in a manner described below.
[0044] In general, the detected and captured movements of the
controller 110 are used to generate position and orientation data
for the controller 110. Because this data is gathered on an image
frame-by-frame basis, the data can be used to calculate many
physical aspects of the movement of the controller 110, such as for
example its acceleration and velocity along any axis, its tilt,
pitch, yaw, roll, as well as any telemetry points of the controller
110.
[0045] The ability to detect and track the movements of the
controller 110 makes it possible to determine whether any
predefined movements of the controller 110 are performed. That is,
certain movement patterns or gestures of the controller 110 may be
predefined and used as input commands for the game or other
simulation. For example, a plunging downward gesture of the
controller 110 may be defined as one command, a twisting gesture of
the controller 110 may be defined as another command, a shaking
gesture of the controller 110 may be defined as another command,
and so on. In this way the manner in which the user 108 physically
moves the controller 110 itself is used as another input for
controlling the game, which provides a more stimulating and
entertaining experience for the user. Examples of how movements of
the controller 110 can be mapped to input commands for the game
will be discussed below.
[0046] Referring to FIG. 1B, there is illustrated a more detailed
view of the controller 110 that is made in accordance with an
embodiment of the present invention. The controller 110 includes a
body 111. The body 111 is the part of the game controller 110 that
one would hold by hand (or wear if it were a wearable game
controller). An input device manipulable by a user is something
such as, for example, a button or multi-axis control stick on the
controller. One or more buttons may be disposed on the body 111.
The body may include a housing holdable by hand. The housing may
include a handgrip graspable by hand. Thus, during operation when
the user 108 physically moves the controller 110 itself, the user
108 physically moves the body 111 of the controller 110. The user
moves the body 111 around in the air, or in free-space.
[0047] The body 111 may have a forward section to be oriented
towards a screen when a progress of a game controlled in accordance
with the game controller is displayed upon the screen. At least one
input device may be assembled with the body 111 with the input
device manipulable by a user to register an input from the
user.
[0048] One or more light-emitting diodes (LEDs) may be disposed on
the body that are arranged in a geometric shape. Or, another type
of photonically detectable ("PD") element may be assembled with the
body 111. A position of the photonically detectable element may be
within an image being recorded by an image capture device when the
forward section is oriented at least generally towards the screen.
The positions of the PD element at different points in time may be
quantifiable at quantify movement of the body 111 in space.
[0049] In this embodiment, the controller 110 includes four
light-emitting diodes (LEDs) 122, 124, 126, 128. As illustrated,
the four LEDs 122, 124, 126, 128 may be arranged in a substantially
square or rectangular pattern and located on the bridge of the
controller 110 between the R1 and L1 buttons. Thus, in this
embodiment the geometric shape comprises a substantially square or
rectangular pattern. The square or rectangular pattern formed by
the four LEDs 122, 124, 126, 128 will be referred to herein as the
"bounding box" formed by the LEDs.
[0050] It should be well understood that the geometric shape may
comprise many different shapes. For example, the geometric shape
may comprise any linear or two-dimensional pattern. Although a
linear array of LEDs is preferred, the LEDs may alternatively, be
arranged in a rectangular pattern or an arcuate pattern to
facilitate determination of an image plane of the LED array when
analyzing an image of the LED pattern obtained by an image capture
camera.
[0051] While the illustrated embodiment of the controller utilizes
four LEDs, it should be well understood that other embodiments may
utilize more than four LEDs or less than four LEDs. For example,
three LEDs will work, and two LEDs will also work to provide
tracking information. Even one LED can provide position
information. Furthermore, the LEDs may be located on a different
part of the controller 110.
[0052] The four LEDs 122, 124, 126, 128 produce four points or dots
that are perceived by camera 112 (FIG. 1A). Because the camera 112
is looking at the player 108 with the controller 110 in his hands,
the camera 112 is able to track the movement of the controller 110
by tracking the movement of the dots produced by the four LEDs 122,
124, 126, 128 and the bounding box that they form.
[0053] Namely, as the user 108 twists and rotates the controller
body 110 the projection of the four dots are cast on the image
plane of the camera 112's outputs. Image analysis is used to track
the user's manipulations of the controller and to determine
controller position and orientation. Thus, the four LEDs 122, 124,
126, 128 produce information regarding the body's movement. The
positions of one or two controllers can be determined, or the
relative movements of two controllers can be tracked.
[0054] FIG. 2A illustrates an example of how the bounding box is
used to track the movements of the controller. Specifically, the
controller, and thus the four LEDs 122, 124, 126, 128, are located
within the field of view 114 of the camera 112. The four LEDs 122,
124, 126, 128 form a bounding box 202 when the controller is in a
first position. When the controller is moved to a second position
the four LEDs 122, 124, 126, 128 form a second bounding box 204. In
addition, when the controller is moved from the first to the second
position, the intermediate positions of the bounding boxes are also
captured, depending on the speed of the movement and the frame rate
of the camera 112.
[0055] The bounding boxes 202 and 204 formed by the four LEDs 122,
124, 126, 128 are captured in the image plane of the camera 112.
FIG. 2B illustrates an example of the image plane 220 of the camera
112 showing the bounding boxes 202 and 204. A physics analysis is
performed to derive and determine the movements of the bounding box
and how the rectangle of the bounding box deforms into different
shapes based on the tilt, yaw, etc. of the controller. By
projecting the bounding boxes on the image plane, the position,
orientation, acceleration, velocity, etc., of the controller can be
determined, which can in turn be used to track the user's
manipulations of the game controller.
[0056] Referring to FIG. 3A, there is illustrated a method 300 for
use in obtaining information from a controller in accordance with
an embodiment of the present invention. The method 300 may be
executed and performed by many different types of systems and
devices, such as for example entertainment systems and consoles,
computers, consumer electronics device, etc. An example of a system
that may be used to perform the method 300 will be described
below.
[0057] The method 300 begins in step 302 in which a projection of a
geometric shape established on the controller is received on an
image plane of a camera. This step may be performed as has already
been described above.
[0058] In step 304 the movements and deformities in the projection
of the geometric shape are analyzed. Namely, the four dots of the
bounding box are tracked and analyzed. Field and frame analysis is
performed on the image plane of the camera output to analyze the
manipulation of the four reference points to determine position
orientation, tilt, yaw, roll, etc. of the controller. In addition,
acceleration of the controller can be tracked in any direction.
Analysis of the frames of the image can give the acceleration along
any axis. Telemetry points of the controller can also be computed.
It can also be determined whether or not the controller is in a
resting position or resting state, such as for example when the
controller is in a neutral or steady state near the user's
waist.
[0059] As the controller rolls the image translates in the plane.
Changes in the width of the rectangle of the bounding box indicate
the controller is rolling. As the yaw of the controller is
adjusted, the width of the rectangle changes. Yaw maps to the width
of the rectangle. Tilt of the controller influences the height of
the rectangle.
[0060] For example, the bounding box 202 (FIG. 2B) indicates that
the controller was initially positioned looking fairly straight
ahead at the camera. The bounding box 204 indicates that the
controller was then moved downward, rolled and turned to the user's
left.
[0061] It is difficult to know which side of the "ground plane" the
controller is positioned on because the image plane only sees a
deformed rectangle. For example, this issue can occur if someone
walks in front of and occludes the camera during a time when the
user manipulates the controller and moves the controller to an
equal distance on the other side of an axis horizon line. This may
cause the bounding box to look the same in the image plane. This
can also happen if the controller travels outside of the viewing
region of the image capture device.
[0062] As such, a determination may need to be made as to whether
the deformation is caused by positive or negative tilt or roll
(positive and negative being related to up/down and left/right
movements away from the steady state origin position). This can be
solved by reading other telemetry from the controller or by
strobing or modulating the LEDs to enable the video analyzer system
to discriminate individual corners of the bounding box rectangle
for tracking purposes. The LEDs may be strobed or modulated as an
aid for discerning the different corners of the bounding box. Or,
each LED may have its own frequency as an aid for discerning the
different corners of the bounding box. By identifying each specific
corner of a bounding region, i.e. each LED, it can be determined
which side of a horizontal line the controller is on at any point
in time. In this way problems associated with the controller
passing through the camera plane can be handled.
[0063] Tracking the movements and rotations of the bounding box on
the screen is based on a frame-by-frame analysis. The camera's
output creates the frames of image data. The projection of the
bounding box is captured in software. The movements of the
controller across the frames is based on the translation of the
box.
[0064] The use of a high frame rate provides the ability to
accurately track acceleration and changes in acceleration of the
movement of the controller. That is, by projecting the image on the
plane at high rates, the delta movements of the controller can be
tracked. This provides the ability to plot the acceleration, the
points where the acceleration peaks out, the points where gravity
zeros out, and the points of inflection. The points of inflection
are the transition points where the controller stops and changes
direction. All of this analysis is performed by analyzing the
frames of the image and determining the position and deformation of
the bounding box. By way of example, frame rates of 120 frames per
second or higher may be used, but it should well understood that
any frame rate may be used.
[0065] As will be discussed below, the history of previous frames
may be mapped. This allows the previous telemetry of the controller
to be looked at for determining certain parameters such as, for
example, in tracking acceleration, velocity, and stopping
points.
[0066] In step 306 (FIG. 3A) position information for the
controller is determined based on the analysis of the movements and
deformities in the projection of the geometric shape. By way of
example, an image analyzer may be used to perform one or both of
steps 304 and 306. Namely, an image analyzer may be used to perform
the analysis of the movements and deformations of the bounding
boxes in the image plane of the camera. The output of the video
camera may be coupled to the input of an image analyzer. An example
of a system which may incorporate an image analyzer for
implementing one or more of the methods, schemes and functions
described herein will be discussed below.
[0067] The image analyzer monitors the bounding box formed by the
reference LEDs as captured in the image plane of the camera. The
image analyzer analyzes the position, rotation, horizontal and
vertical deformation of the bounding box to determine the physical
user manipulation of the controller, its position, roll, tilt and
yaw coordinates. At the end of the image analysis the data may be
output in the form of an output ID or the like. Such output IDs
from the image analysis may include data such as the x, y, z
coordinates, acceleration and velocity along any axis, that the
controller is in a resting position or state, etc. Thus, at the end
of image analysis the image analyzer can indicate where the
controller is and whether a command is issued. And the image
analyzer may be pinged at any instant of time and it may provide
position, orientation, last command, etc.
[0068] By way of example, the image analyzer may provide, but shall
not be limited to providing the following outputs:
[0069] CONTROLLER POSITION (X, Y, Z coordinates);
[0070] CONTROLLER ORIENTATION alpha, beta, gamma (radians);
[0071] CONTROLLER X-AXIS VELOCITY;
[0072] CONTROLLER Y-AXIS VELOCITY;
[0073] CONTROLLER Z-AXIS VELOCITY;
[0074] CONTROLLER X-AXIS ACCELERATION;
[0075] CONTROLLER Y-AXIS ACCELERATION;
[0076] CONTROLLER Z-AXIS ACCELERATION;
[0077] RESTING POSITION OF STEADY STATE Y/N (at waist as described,
but may be defined as any position);
[0078] TIME SINCE LAST STEADY STATE;
[0079] LAST GESTURE RECOGNIZED;
[0080] TIME LAST GESTURE RECOGNIZED; and
[0081] INTERRUPT ZERO-ACCELERATION POINT REACHED.
Each of these outputs may be generated by analyzing the movements
and deformations of the bounding box as described above. These
outputs may be further processed in order to track the movement of
the controller. Such tracking will allow certain movements of the
controller to be recognized, which can then be used to trigger
certain commands as described below. It should be well understood
that many other outputs may be used in addition to or in
replacement of the above-listed outputs.
[0082] Additional inputs to the image analyzer may optionally be
provided. Such optional inputs may include but shall not be limited
the following:
[0083] SET NOISE LEVEL (X, Y or Z AXIS) (this is a reference
tolerance when analyzing jitter of hands in the game);
[0084] SET SAMPLING RATE (how often frames of the camera are being
taken in and analyzed);
[0085] SET GEARING; and
[0086] SET MAPPING CHAIN.
[0087] As mentioned above, the ability to detect and track the
movements of the controller 110 makes it possible to determine
whether any predefined movements of the controller 110 are
performed. That is, certain movement patterns or gestures of the
controller 110 may be mapped to input commands for the game or
other simulation.
[0088] Referring to FIG. 3B, there is illustrated a method 320 for
use in providing input to a system in accordance with an embodiment
of the present invention. The method 320 begins in step 322 in
which position information for a controller for the system is
determined. This step may be performed using the methods and
techniques described above.
[0089] In step 324, the determined position information for the
controller is compared with predetermined position information
associated with commands. That is, any number of different
movements, gestures or manipulations of the controller may be
mapped to various commands. This allows different movements,
gestures or manipulations of the controller to be mapped into game
models. For example, moving the controller up may be mapped to one
command, moving the controller down may be mapped to another
command, and moving the controller in any other direction may be
mapped to other commands.
[0090] Similarly, shaking the controller once may be mapped to one
command, shaking the controller twice may be mapped to another
command, and similarly, shaking the controller three, four, five,
etc., times may be mapped to other commands. That is, various
gestures may be established based on shaking the controller a
certain number of times. Still other gestures may be established
based on shaking the controller up and down vigorously a certain
number of times. Other movements of the controller such as
twisting, rolling, etc., may be mapped to still other commands.
[0091] Thus, various different trajectories of the game controller
may be mapped onto gestures, which trigger commands in the game.
Each command is mapped to a predetermined movement of the
controller. Such predetermined movements of the controller will
have associated predetermined position information. In this
embodiment the determined position information for the controller
is compared with the predetermined position information to see if a
command should be triggered.
[0092] By way of example, such mapping of gestures to game commands
may be implemented as follows. The outputs of the image analyzer
may be used to determine position and orientation information for
the controller. The image analyzer may output various different IDs
that are indicative of position and orientation of the controller.
For example, one ID may be output for a steady state determination,
another ID may be output to indicate shaking of the controller, and
various other IDs may be output to indicate other orientations.
Thus, the use of such IDs may be used to output whether the
controller is in steady state or is moving. If the controller is in
steady state, an ID may indicate how long the controller has been
in steady state.
[0093] The determined position and orientation information for the
controller may then be compared with predetermined position
information associated with input commands for the game. If the
determined position information matches the predetermined position
information for a command, then the command is provided to the
entertainment system. Again, various gestures such as pushing the
controller up or down, twisting in a circle, right or left,
twisting while pulling it up or down, rolling right or left, etc.,
may all be mapped to various commands.
[0094] When a new command or gesture is recognized the image
analyzer may trigger an interrupt. The triggering of such an
interrupt may be used as part of the process of providing the
command to the entertainment system. The system may optionally be
configured so that zero acceleration points in the axes, stop
points, and/or other events also trigger interrupts.
[0095] In comparing the determined position and orientation
information with the predetermined position information associated
with input commands to see if there is a match, it may often be the
case that there is not an exact match. This is because with
movement of the controller in free-space it may be difficult to
precisely recreate a predefined movement. Therefore, the
predetermined position information associated with input commands
may be defined in terms of ranges, tolerances, and/or thresholds
that are considered to be close enough to the predetermined
position information such as to activate the command. That is,
commands may be defined in terms of the thresholds or ranges. Thus,
in determining whether or not any commands or gestures have been
identified, the system may check to see if the determined position
and orientation information falls within a range of a gesture.
Thus, the defined commands may have thresholds that can be looked
at in determining whether or not to invoke the command.
[0096] Furthermore, in comparing the determined position and
orientation information with the predetermined position information
associated with input commands to see if there is a match,
histories of previous frames may be saved or mapped. For example,
the frame buffer may be monitored or the system may otherwise keep
running records of the history of the previous frames. The previous
frames may be looked at to determine if any commands are met. The
mapping of frame histories may allow the telemetry of the
controller at a specific time to be determined to provide the
position orientation in determining if a command is met.
[0097] Finally, in step 326 if the determined position information
for the controller matches predetermined position information for a
command, the command is provided to the system. Such command may be
used to cause an event to occur or not occur in a video game or
other simulation.
[0098] In other embodiments, the movements of a game controller may
mapped to game commands, such as for example in video game. With
such a method, which may be used in video games or other
simulations, position information for a controller that is being
manipulated by a user is received. The position information is
analyzed to determine whether a predetermined movement of the
controller associated with a command has been performed. This
analysis may be performed as described above. If the predetermined
movement of the controller associated with a command has been
performed, then the command is executed by the game. The execution
of the command may cause a visual effect or the like to occur on
the video display that the game is being displayed on.
[0099] While the discussion herein is directed to the use of LEDs
on the controller for a game or other entertainment system, it
should be well understood that the teachings provided herein may be
applied to detect and track the movements of controllers for other
types of systems, devices, consumer electronics, etc. That is, the
LEDs of the game controller described above can be used to perform
remote control functions for consumer electronics devises or any
device. LEDs may be used on the controllers for many other types of
systems and devices in order to detect and track the controllers so
that such movements may be mapped to commands for those systems and
device. Examples of such other types of systems and devices may
include, but are not limited to, televisions, stereos, telephones,
computers, home or office networks, hand-held computing or
communication device, etc.
[0100] Furthermore, the teachings described herein may be applied
to universal remote controls that have the ability to control
several or many different devices. That is, such universal remote
controls may include LEDs as described herein such that movements
of the universal remote control body may be used as input commands
for several or many different devices or systems.
[0101] Moreover, a game controller may have a universal remote
function. For example, such may comprise a body having a forward
section to be oriented towards a screen when a progress of a game
controlled in accordance with the game controller is displayed upon
the screen. At least one input device may be assembled with the
body with the input device manipulable by a user to register an
input from the user. A signal encoder may be included. An infrared
signal transmitter operable to transmit an infrared signal over the
air using a signal generated by the signal encoder may be included.
The signal encoder may be programmable to encode the signal with a
selected one of a plurality of signaling codes for reception by an
electronic device having an infrared receiver and a signal decoder
operable with the selected one signaling code.
[0102] Moreover, battery operated toys (including toys molded into
a form and style of a branded game) can be formed having LEDs and
form a tracked user manipulated body in the sensed environment.
[0103] In some embodiments the image analyzer can recognize a user
or process audio authenticated gestures, etc. A user may be
identified by an analyzer in the system through a gesture and a
gesture may be specific to a user. Gestures may be recorded by
users and stored in models. The recordation process may optionally
store audio generated during recordation of a gesture. The sensed
environment may be sampled into a multi-channel analyzer and
processed. The processor may reference gesture models to determine
and authenticate user identity or objects based on voice or
acoustic patterns and to a high degree of accuracy and
performance.
[0104] According to embodiments of the present invention, the
methods and techniques described herein may be implemented as part
of a signal processing apparatus 400, as depicted in FIG. 4. The
apparatus 400 may include a processor 401 and a memory 402 (e.g.,
RAM, DRAM, ROM, and the like). In addition, the signal processing
apparatus 400 may have multiple processors 401 if parallel
processing is to be implemented. The memory 402 may include data
and code configured as described above.
[0105] Specifically, the memory 402 may include signal data 406.
The memory 402 may also contain calibration data 408, e.g., data
representing one or more inverse eigenmatrices C.sup.-1 for one or
more corresponding pre-calibrated listening zones obtained from
calibration of a microphone array 422. By way of example the memory
402 may contain eignematrices for eighteen 20 degree sectors that
encompass a microphone array 422.
[0106] The apparatus 400 may also include well-known support
functions 410, such as input/output (I/O) elements 411, power
supplies (P/S) 412, a clock (CLK) 413 and cache 414. The apparatus
400 may optionally include a mass storage device 415 such as a disk
drive, CD-ROM drive, tape drive, or the like to store programs
and/or data. The controller may also optionally include a display
unit 416 and user interface unit 418 to facilitate interaction
between the controller 400 and a user. The display unit 416 may be
in the form of a cathode ray tube (CRT) or flat panel screen that
displays text, numerals, graphical symbols or images. The user
interface 418 may include a keyboard, mouse, joystick, light pen or
other device. In addition, the user interface 418 may include a
microphone, video camera or other signal transducing device to
provide for direct capture of a signal to be analyzed. The
processor 401, memory 402 and other components of the system 400
may exchange signals (e.g., code instructions and data) with each
other via a system bus 420 as shown in FIG. 4.
[0107] The microphone array 422 may be coupled to the apparatus 400
through the I/O functions 411. The microphone array may include
between about 2 and about 8 microphones, preferably about 4
microphones with neighboring microphones separated by a distance of
less than about 4 centimeters, preferably between about 1
centimeter and about 2 centimeters. Preferably, the microphones in
the array 422 are omni-directional microphones. An optional image
capture unit 423 (e.g., a digital camera) may be coupled to the
apparatus 400 through the I/O functions 411. One or more pointing
actuators 425 that are mechanically coupled to the camera may
exchange signals with the processor 401 via the I/O functions
411.
[0108] As used herein, the term I/O generally refers to any
program, operation or device that transfers data to or from the
system 400 and to or from a peripheral device. Every data transfer
may be regarded as an output from one device and an input into
another. Peripheral devices include input-only devices, such as
keyboards and mouses, output-only devices, such as printers as well
as devices such as a writable CD-ROM that can act as both an input
and an output device. The term "peripheral device" includes
external devices, such as a mouse, keyboard, printer, monitor,
microphone, game controller, camera, external Zip drive or scanner
as well as internal devices, such as a CD-ROM drive, CD-R drive or
internal modem or other peripheral such as a flash memory
reader/writer, hard drive.
[0109] In certain embodiments of the invention, the apparatus 400
may be a video game unit, which may include a joystick controller
430 coupled to the processor via the I/O functions 411 either
through wires (e.g., a USB cable) or wirelessly. The joystick
controller 430 may have analog joystick controls 431 and
conventional buttons 433 that provide control signals commonly used
during playing of video games. Such video games may be implemented
as processor readable data and/or instructions which may be stored
in the memory 402 or other processor readable medium such as one
associated with the mass storage device 415.
[0110] The joystick controls 431 may generally be configured so
that moving a control stick left or right signals movement along
the X axis, and moving it forward (up) or back (down) signals
movement along the Y axis. In joysticks that are configured for
three-dimensional movement, twisting the stick left
(counter-clockwise) or right (clockwise) may signal movement along
the Z axis. These three axis--X Y and Z--are often referred to as
roll, pitch, and yaw, respectively, particularly in relation to an
aircraft.
[0111] In addition to conventional features, the joystick
controller 430 may include one or more inertial sensors 432, which
may provide position and/or orientation information to the
processor 401 via an inertial signal. Orientation information may
include angular information such as a tilt, roll or yaw of the
joystick controller 430. By way of example, the inertial sensors
432 may include any number and/or combination of accelerometers,
gyroscopes or tilt sensors. In a preferred embodiment, the inertial
sensors 432 include tilt sensors adapted to sense orientation of
the joystick controller with respect to tilt and roll axes, a first
accelerometer adapted to sense acceleration along a yaw axis and a
second accelerometer adapted to sense angular acceleration with
respect to the yaw axis. An accelerometer may be implemented, e.g.,
as a MEMS device including a mass mounted by one or more springs
with sensors for sensing displacement of the mass relative to one
or more directions. Signals from the sensors that are dependent on
the displacement of the mass may be used to determine an
acceleration of the joystick controller 430. Such techniques may be
implemented by program code instructions 404 which may be stored in
the memory 402 and executed by the processor 401.
[0112] By way of example an accelerometer suitable as the inertial
sensor 432 may be a simple mass elastically coupled at three or
four points to a frame, e.g., by springs. Pitch and roll axes lie
in a plane that intersects the frame, which is mounted to the
joystick controller 430. As the frame (and the joystick controller
430) rotates about pitch and roll axes the mass will displace under
the influence of gravity and the springs will elongate or compress
in a way that depends on the angle of pitch and/or roll. The
displacement and of the mass can be sensed and converted to a
signal that is dependent on the amount of pitch and/or roll.
Angular acceleration about the yaw axis or linear acceleration
along the yaw axis may also produce characteristic patterns of
compression and/or elongation of the springs or motion of the mass
that can be sensed and converted to signals that are dependent on
the amount of angular or linear acceleration. Such an accelerometer
device can measure tilt, roll angular acceleration about the yaw
axis and linear acceleration along the yaw axis by tracking
movement of the mass or compression and expansion forces of the
springs. There are a number of different ways to track the position
of the mass and/or or the forces exerted on it, including resistive
strain gauge material, photonic sensors, magnetic sensors,
hall-effect devices, piezoelectric devices, capacitive sensors, and
the like.
[0113] In addition, the joystick controller 430 may include one or
more light sources 434, such as light emitting diodes (LEDs). The
light sources 434 may be used to distinguish one controller from
the other. For example one or more LEDs can accomplish this by
flashing or holding an LED pattern code. By way of example, 5 LEDs
can be provided on the joystick controller 430 in a linear or
two-dimensional pattern. Although a linear array of LEDs is
preferred, the LEDs may alternatively, be arranged in a rectangular
pattern or an arcuate pattern to facilitate determination of an
image plane of the LED array when analyzing an image of the LED
pattern obtained by the image capture unit 423. Furthermore, the
LED pattern codes may also be used to determine the positioning of
the joystick controller 430 during game play. For instance, the
LEDs can assist in identifying tilt, yaw and roll of the
controllers. This detection pattern can assist in providing a
better user/feel in games, such as aircraft flying games, etc. The
image capture unit 423 may capture images containing the joystick
controller 430 and light sources 434. Analysis of such images can
determine the location and/or orientation of the joystick
controller. Such analysis may be implemented by program code
instructions 404 stored in the memory 402 and executed by the
processor 401. To facilitate capture of images of the light sources
434 by the image capture unit 423, the light sources 434 may be
placed on two or more different sides of the joystick controller
430, e.g., on the front and on the back (as shown in phantom). Such
placement allows the image capture unit 423 to obtain images of the
light sources 434 for different orientations of the joystick
controller 430 depending on how the joystick controller 430 is held
by a user.
[0114] In addition the light sources 434 may provide telemetry
signals to the processor 401, e.g., in pulse code, amplitude
modulation or frequency modulation format. Such telemetry signals
may indicate which joystick buttons are being pressed and/or how
hard such buttons are being pressed. Telemetry signals may be
encoded into the optical signal, e.g., by pulse coding, pulse width
modulation, frequency modulation or light intensity (amplitude)
modulation. The processor 401 may decode the telemetry signal from
the optical signal and execute a game command in response to the
decoded telemetry signal. Telemetry signals may be decoded from
analysis of images of the joystick controller 430 obtained by the
image capture unit 423. Alternatively, the apparatus 401 may
include a separate optical sensor dedicated to receiving telemetry
signals from the lights sources 434. The use of LEDs in conjunction
with determining an intensity amount in interfacing with a computer
program is described, e.g., in commonly-owned U.S. patent
application Ser. No. ______, to Richard L. Marks et al., entitled
"USE OF COMPUTER IMAGE AND AUDIO PROCESSING IN DETERMINING AN
INTENSITY AMOUNT WHEN INTERFACING WITH A COMPUTER PROGRAM"
(Attorney Docket No. SONYP052), which is incorporated herein by
reference in its entirety. In addition, analysis of images
containing the light sources 434 may be used for both telemetry and
determining the position and/or orientation of the joystick
controller 430. Such techniques may be implemented by program code
instructions 404 which may be stored in the memory 402 and executed
by the processor 401.
[0115] The processor 401 may use the inertial signals from the
inertial sensor 432 in conjunction with optical signals from light
sources 434 detected by the image capture unit 423 and/or sound
source location and characterization information from acoustic
signals detected by the microphone array 422 to deduce information
on the location and/or orientation of the joystick controller 430
and/or its user. For example, "acoustic radar" sound source
location and characterization may be used in conjunction with the
microphone array 422 to track a moving voice while motion of the
joystick controller is independently tracked (through the inertial
sensor 432 and or light sources 434). Any number of different
combinations of different modes of providing control signals to the
processor 401 may be used in conjunction with embodiments of the
present invention. Such techniques may be implemented by program
code instructions 404 which may be stored in the memory 402 and
executed by the processor 401.
[0116] Signals from the inertial sensor 432 may provide part of a
tracking information input and signals generated from the image
capture unit 423 from tracking the one or more light sources 434
may provide another part of the tracking information input. By way
of example, and without limitation, such "mixed mode" signals may
be used in a football type video game in which a Quarterback
pitches the ball to the right after a head fake head movement to
the left. Specifically, a game player holding the controller 430
may turn his head to the left and make a sound while making a pitch
movement swinging the controller out to the right like it was the
football. The microphone array 420 in conjunction with "acoustic
radar" program code can track the user's voice. The image capture
unit 423 can track the motion of the user's head or track other
commands that do not require sound or use of the controller. The
sensor 432 may track the motion of the joystick controller
(representing the football). The image capture unit 423 may also
track the light sources 434 on the controller 430. The user may
release of the "ball" upon reaching a certain amount and/or
direction of acceleration of the joystick controller 430 or upon a
key command triggered by pressing a button on the joystick
controller 430.
[0117] In certain embodiments of the present invention, an inertial
signal, e.g., from an accelerometer or gyroscope may be used to
determine a location of the joystick controller 430. Specifically,
an acceleration signal from an accelerometer may be integrated once
with respect to time to determine a change in velocity and the
velocity may be integrated with respect to time to determine a
change in position. If values of the initial position and velocity
at some time are known then the absolute position may be determined
using these values and the changes in velocity and position.
Although position determination using an inertial sensor may be
made more quickly than using the image capture unit 423 and light
sources 434 the inertial sensor 432 may be subject to a type of
error known as "drift" in which errors that accumulate over time
can lead to a discrepancy D between the position of the joystick
430 calculated from the inertial signal (shown in phantom) and the
actual position of the joystick controller 430. Embodiments of the
present invention allow a number of ways to deal with such
errors.
[0118] For example, the drift may be cancelled out manually by
re-setting the initial position of the joystick controller 430 to
be equal to the current calculated position. A user may use one or
more of the buttons on the joystick controller 430 to trigger a
command to re-set the initial position. Alternatively, image-based
drift may be implemented by re-setting the current position to a
position determined from an image obtained from the image capture
unit 423 as a reference. Such image-based drift compensation may be
implemented manually, e.g., when the user triggers one or more of
the buttons on the joystick controller 430. Alternatively,
image-based drift compensation may be implemented automatically,
e.g., at regular intervals of time or in response to game play.
Such techniques may be implemented by program code instructions 404
which may be stored in the memory 402 and executed by the processor
401.
[0119] In certain embodiments it may be desirable to compensate for
spurious data in the inertial sensor signal. For example the signal
from the inertial sensor 432 may be oversampled and a sliding
average may be computed from the oversampled signal to remove
spurious data from the inertial sensor signal. In some situations
it may be desirable to oversample the signal and reject a high
and/or low value from some subset of data points and compute the
sliding average from the remaining data points. Furthermore, other
data sampling and manipulation techniques may be used to adjust the
signal from the inertial sensor to remove or reduce the
significance of spurious data. The choice of technique may depend
on the nature of the signal, computations to be performed with the
signal, the nature of game play or some combination of two or more
of these. Such techniques may be implemented by program code
instructions 404 which may be stored in the memory 402 and executed
by the processor 401.
[0120] The processor 401 may perform digital signal processing on
signal data 406 in response to the data 406 and program code
instructions of a program 404 stored and retrieved by the memory
402 and executed by the processor module 401. Code portions of the
program 404 may conform to any one of a number of different
programming languages such as Assembly, C++, JAVA or a number of
other languages. The processor module 401 forms a general-purpose
computer that becomes a specific purpose computer when executing
programs such as the program code 404. Although the program code
404 is described herein as being implemented in software and
executed upon a general purpose computer, those skilled in the art
will realize that the method of task management could alternatively
be implemented using hardware such as an application specific
integrated circuit (ASIC) or other hardware circuitry. As such, it
should be understood that embodiments of the invention can be
implemented, in whole or in part, in software, hardware or some
combination of both.
[0121] In one embodiment, among others, the program code 404 may
include a set of processor readable instructions that implement any
one or more of the methods and techniques described herein or some
combination of two or more of such methods and techniques. For
example, the program code 404 may be configured to implement the
image analyzer function described herein. Or alternatively, the
image analyzer function described herein may be implemented in
hardware.
[0122] In the illustrated embodiment the image analyzer function
described above is illustrated as the image analyzer 450. The image
analyzer 450 may receive its input from a camera, such as for
example the image capture unit 423 or the camera 112 (FIG. 1A).
Thus, the output of the video camera 112 or the image capture unit
423 may be coupled to the input of the image analyzer 450. The
output of the image analyzer 450 may be provided to the system of
the apparatus 400. This way, either commands themselves or
information needed to see if a command or gesture has been
recognized is provided to the apparatus 400. The image analyzer 450
may be coupled to the rest of the apparatus 400 in many different
ways; as such, the illustrated connections are just one example. As
another example, the image analyzer 450 may be coupled to the
system bus 420, which will allow it to receive its input data from
the image capture unit 423 and provide its output to the apparatus
400.
[0123] The image analyzer 450 may optionally be included in the
apparatus 400 or the entertainment system or console 102, or the
image analyzer 450 may be located separately from these devices and
systems. And again, it should be well understood that the image
analyzer 450 may be implemented, in whole or in part, in software,
hardware or some combination of both. In the scenario where the
image analyzer 450 is implemented in software, then the block 450
represents the image analyzer function implemented in software.
[0124] The program code 404 may generally include one or more
instructions that direct the one or more processors to select a
pre-calibrated listening zone at runtime and filter out sounds
originating from sources outside the pre-calibrated listening zone.
The pre-calibrated listening zones may include a listening zone
that corresponds to a volume of focus or field of view of the image
capture unit 423.
[0125] The program code may include one or more instructions which,
when executed, cause the apparatus 400 to select a pre-calibrated
listening sector that contains a source of sound. Such instructions
may cause the apparatus to determine whether a source of sound lies
within an initial sector or on a particular side of the initial
sector. If the source of sound does not lie within the default
sector, the instructions may, when executed, select a different
sector on the particular side of the default sector. The different
sector may be characterized by an attenuation of the input signals
that is closest to an optimum value. These instructions may, when
executed, calculate an attenuation of input signals from the
microphone array 422 and the attenuation to an optimum value. The
instructions may, when executed, cause the apparatus 400 to
determine a value of an attenuation of the input signals for one or
more sectors and select a sector for which the attenuation is
closest to an optimum value.
[0126] The program code 404 may optionally include one or more
instructions that direct the one or more processors to produce a
discrete time domain input signal x.sub.m(t) from the microphones
M.sub.0 . . . M.sub.M, determine a listening sector, and use the
listening sector in a semi-blind source separation to select the
finite impulse response filter coefficients to separate out
different sound sources from input signal x.sub.m(t). The program
404 may also include instructions to apply one or more fractional
delays to selected input signals x.sub.m(t) other than an input
signal x.sub.0(t) from a reference microphone M.sub.0. Each
fractional delay may be selected to optimize a signal to noise
ratio of a discrete time domain output signal y(t) from the
microphone array. The fractional delays may be selected to such
that a signal from the reference microphone M.sub.0 is first in
time relative to signals from the other microphone(s) of the array.
The program 404 may also include instructions to introduce a
fractional time delay .DELTA. into an output signal y(t) of the
microphone array so that:
y(t+.DELTA.)=x(t+.DELTA.)*b.sub.0+x(t-1+.DELTA.)*b.sub.1+x(t-2+.DELTA.)*b-
.sub.2+ . . . +x(t-N+.DELTA.)b.sub.N, where .DELTA. is between zero
and .+-.1.
[0127] The program code 404 may optionally include processor
executable instructions including one or more instructions which,
when executed cause the image capture unit 423 to monitor a field
of view in front of the image capture unit 423, identify one or
more of the light sources 434 within the field of view, detect a
change in light emitted from the light source(s) 434; and in
response to detecting the change, triggering an input command to
the processor 401. The use of LEDs in conjunction with an image
capture device to trigger actions in a game controller is described
e.g., in commonly-owned, U.S. patent application Ser. No.
10/759,782 to Richard L. Marks, filed Jan. 16, 2004 and entitled:
METHOD AND APPARATUS FOR LIGHT INPUT DEVICE, which is incorporated
herein by reference in its entirety.
[0128] The program code 404 may optionally include processor
executable instructions including one or more instructions which,
when executed, use signals from the inertial sensor and signals
generated from the image capture unit from tracking the one or more
light sources as inputs to a game system, e.g., as described above.
The program code 404 may optionally include processor executable
instructions including one or more instructions which, when
executed compensate for drift in the inertial sensor 432.
[0129] In addition, the program code 404 may optionally include
processor executable instructions including one or more
instructions which, when executed adjust the gearing and mapping of
controller manipulations to game a environment. Such a feature
allows a user to change the "gearing" of manipulations of the
joystick controller 430 to game state. For example, a 45 degree
rotation of the joystick controller 430 may be geared to a 45
degree rotation of a game object. However this 1:1 gearing ratio
may be modified so that an X degree rotation (or tilt or yaw or
"manipulation") of the controller translates to a Y rotation (or
tilt or yaw or "manipulation") of the game object. Gearing may be
1:1 ratio, 1:2 ratio, 1:X ratio or X:Y ratio, where X and Y can
take on arbitrary values. Additionally, mapping of input channel to
game control may also be modified over time or instantly.
Modifications may comprise changing gesture trajectory models,
modifying the location, scale, threshold of gestures, etc. Such
mapping may be programmed, random, tiered, staggered, etc., to
provide a user with a dynamic range of manipulatives. Modification
of the mapping, gearing or ratios can be adjusted by the program
code 404 according to game play, game state, through a user
modifier button (key pad, etc.) located on the joystick controller
430, or broadly in response to the input channel. The input channel
may include, but may not be limited to elements of user audio,
audio generated by controller, tracking audio generated by the
controller, controller button state, video camera output,
controller telemetry data, including accelerometer data, tilt, yaw,
roll, position, acceleration and any other data from sensors
capable of tracking a user or the user manipulation of an
object.
[0130] In certain embodiments the program code 404 may change the
mapping or gearing over time from one scheme or ratio to another
scheme, respectively, in a predetermined time-dependent manner.
Gearing and mapping changes can be applied to a game environment in
various ways. In one example, a video game character may be
controlled under one gearing scheme when the character is healthy
and as the character's health deteriorates the system may gear the
controller commands so the user is forced to exacerbate the
movements of the controller to gesture commands to the character. A
video game character who becomes disoriented may force a change of
mapping of the input channel as users, for example, may be required
to adjust input to regain control of the character under a new
mapping. Mapping schemes that modify the translation of the input
channel to game commands may also change during gameplay. This
translation may occur in various ways in response to game state or
in response to modifier commands issued under one or more elements
of the input channel. Gearing and mapping may also be configured to
influence the configuration and/or processing of one or more
elements of the input channel.
[0131] In addition, a speaker 436 may be mounted to the joystick
controller 430. In "acoustic radar" embodiments wherein the program
code 404 locates and characterizes sounds detected with the
microphone array 422, the speaker 436 may provide an audio signal
that can be detected by the microphone array 422 and used by the
program code 404 to track the position of the joystick controller
430. The speaker 436 may also be used to provide an additional
"input channel" from the joystick controller 430 to the processor
401. Audio signals from the speaker 436 may be periodically pulsed
to provide a beacon for the acoustic radar to track location. The
audio signals (pulsed or otherwise) may be audible or ultrasonic.
The acoustic radar may track the user manipulation of the joystick
controller 430 and where such manipulation tracking may include
information about the position and orientation (e.g., pitch, roll
or yaw angle) of the joystick controller 430. The pulses may be
triggered at an appropriate duty cycle as one skilled in the art is
capable of applying. Pulses may be initiated based on a control
signal arbitrated from the system. The apparatus 400 (through the
program code 404) may coordinate the dispatch of control signals
amongst two or more joystick controllers 430 coupled to the
processor 401 to assure that multiple controllers can be
tracked.
[0132] By way of example, embodiments of the present invention may
be implemented on parallel processing systems. Such parallel
processing systems typically include two or more processor elements
that are configured to execute parts of a program in parallel using
separate processors. By way of example, and without limitation,
FIG. 5 illustrates a type of cell processor 500 according to an
embodiment of the present invention. The cell processor 500 may be
used as the processor 401 of FIG. 4. In the example depicted in
FIG. 5, the cell processor 500 includes a main memory 502, power
processor element (PPE) 504, and a number of synergistic processor
elements (SPEs) 506. In the example depicted in FIG. 5, the cell
processor 500 includes a single PPE 504 and eight SPE 506. In such
a configuration, seven of the SPE 506 may be used for parallel
processing and one may be reserved as a back-up in case one of the
other seven fails. A cell processor may alternatively include
multiple groups of PPEs (PPE groups) and multiple groups of SPEs
(SPE groups). In such a case, hardware resources can be shared
between units within a group. However, the SPEs and PPEs must
appear to software as independent elements. As such, embodiments of
the present invention are not limited to use with the configuration
shown in FIG. 5.
[0133] The main memory 502 typically includes both general-purpose
and nonvolatile storage, as well as special-purpose hardware
registers or arrays used for functions such as system
configuration, data-transfer synchronization, memory-mapped I/O,
and I/O subsystems. In embodiments of the present invention, a
signal processing program 503 may be resident in main memory 502.
The signal processing program 503 may run on the PPE. The program
503 may be divided up into multiple signal processing tasks that
can be executed on the SPEs and/or PPE.
[0134] By way of example, the PPE 504 may be a 64-bit PowerPC
Processor Unit (PPU) with associated caches L1 and L2. The PPE 504
is a general-purpose processing unit, which can access system
management resources (such as the memory-protection tables, for
example). Hardware resources may be mapped explicitly to a real
address space as seen by the PPE. Therefore, the PPE can address
any of these resources directly by using an appropriate effective
address value. A primary function of the PPE 504 is the management
and allocation of tasks for the SPEs 506 in the cell processor
500.
[0135] Although only a single PPE is shown in FIG. 5, some cell
processor implementations, such as cell broadband engine
architecture (CBEA), the cell processor 500 may have multiple PPEs
organized into PPE groups, of which there may be more than one.
These PPE groups may share access to the main memory 502.
Furthermore the cell processor 500 may include two or more groups
SPEs. The SPE groups may also share access to the main memory 502.
Such configurations are within the scope of the present
invention.
[0136] Each SPE 506 is includes a synergistic processor unit (SPU)
and its own local storage area LS. The local storage LS may include
one or more separate areas of memory storage, each one associated
with a specific SPU. Each SPU may be configured to only execute
instructions (including data load and data store operations) from
within its own associated local storage domain. In such a
configuration, data transfers between the local storage LS and
elsewhere in a system 500 may be performed by issuing direct memory
access (DMA) commands from the memory flow controller (MFC) to
transfer data to or from the local storage domain (of the
individual SPE). The SPUs are less complex computational units than
the PPE 504 in that they do not perform any system management
functions. The SPU generally have a single instruction, multiple
data (SIMD) capability and typically process data and initiate any
required data transfers (subject to access properties set up by the
PPE) in order to perform their allocated tasks. The purpose of the
SPU is to enable applications that require a higher computational
unit density and can effectively use the provided instruction set.
A significant number of SPEs in a system managed by the PPE 504
allow for cost-effective processing over a wide range of
applications.
[0137] Each SPE 506 may include a dedicated memory flow controller
(MFC) that includes an associated memory management unit that can
hold and process memory-protection and access-permission
information. The MFC provides the primary method for data transfer,
protection, and synchronization between main storage of the cell
processor and the local storage of an SPE. An MFC command describes
the transfer to be performed. Commands for transferring data are
sometimes referred to as MFC direct memory access (DMA) commands
(or MFC DMA commands).
[0138] Each MFC may support multiple DMA transfers at the same time
and can maintain and process multiple MFC commands. Each MFC DMA
data transfer command request may involve both a local storage
address (LSA) and an effective address (EA). The local storage
address may directly address only the local storage area of its
associated SPE. The effective address may have a more general
application, e.g., it may be able to reference main storage,
including all the SPE local storage areas, if they are aliased into
the real address space.
[0139] To facilitate communication between the SPEs 506 and/or
between the SPEs 506 and the PPE 504, the SPEs 506 and PPE 504 may
include signal notification registers that are tied to signaling
events. The PPE 504 and SPEs 506 may be coupled by a star topology
in which the PPE 504 acts as a router to transmit messages to the
SPEs 506. Alternatively, each SPE 506 and the PPE 504 may have a
one-way signal notification register referred to as a mailbox. The
mailbox can be used by an SPE 506 to host operating system (OS)
synchronization.
[0140] The cell processor 500 may include an input/output (I/O)
function 508 through which the cell processor 500 may interface
with peripheral devices, such as a microphone array 512 and
optional image capture unit 513. In addition an Element
Interconnect Bus 510 may connect the various components listed
above. Each SPE and the PPE can access the bus 510 through a bus
interface units BIU. The cell processor 500 may also includes two
controllers typically found in a processor: a Memory Interface
Controller MIC that controls the flow of data between the bus 510
and the main memory 502, and a Bus Interface Controller BIC, which
controls the flow of data between the I/O 508 and the bus 510.
Although the requirements for the MIC, BIC, BIUs and bus 510 may
vary widely for different implementations, those of skill in the
art will be familiar their functions and circuits for implementing
them.
[0141] The cell processor 500 may also include an internal
interrupt controller IIC. The IIC component manages the priority of
the interrupts presented to the PPE. The IIC allows interrupts from
the other components the cell processor 500 to be handled without
using a main system interrupt controller. The IIC may be regarded
as a second level controller. The main system interrupt controller
may handle interrupts originating external to the cell
processor.
[0142] In embodiments of the present invention, certain
computations, such as fractional delays, may be performed in
parallel using the PPE 504 and/or one or more of the SPE 506. Each
fractional delay calculation may be run as one or more separate
tasks that different SPE 506 may take as they become available.
[0143] While the invention herein disclosed has been described by
means of specific embodiments and applications thereof, numerous
modifications and variations could be made thereto by those skilled
in the art without departing from the scope of the invention set
forth in the claims.
* * * * *