Optical tracking system employing data transfer via infrared

Abstract

An optical tracking system may include an optical sensor (e.g., an infrared (IR) camera) coupled with an illuminator (e.g., an IR light emitting diode (LED)). The optical tracking system may track an object with retroreflective indicia. Light from the illuminator may be reflected by the retroreflective marker and detected by the optical sensor. In some cases, the object may include an emitter (e.g., an IR LED) such that active light emitted from the object is directly detected by an optical sensor. The optical sensor generates data based on the detected light and sends the data to the controller. The controller may calculate orientation data (e.g., indicative of a relative 2D orientation between an object and an optical sensor). The controller may optically (e.g., using IR light) send orientation data to an object.

Description

Cross-reference to related applications

[0001] This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 447,206, entitled “OPTICAL TRACKING SYSTEM WITH DATA TRANSMISSION VIAINFRARED,” filed February 21, 2023, which is hereby incorporated by reference in its entirety for all purposes. Background Art

[0002] In certain locations (e.g., amusement parks, buildings, parking lots), automatic tracking systems can have various applications (e.g., tracking objects and issuing alerts based on the tracked objects). One type of automatic tracking system can be an optical tracking system, which can use a variety of optical sensors to detect light reflected from one or more tracked objects. Based on the detected light, the optical tracking system can generate position data indicating the corresponding position of the one or more tracked objects.

[0003] This section is intended to introduce the reader to various aspects of the technology that may be related to the various aspects of the technology presented, which are described and / or claimed below. It is believed that this discussion will help provide the reader with background information to promote a better understanding of the various aspects of the present disclosure. Therefore, it should be understood that these statements are to be read in this light, and not as admissions of prior art. Summary of the Invention

[0004] Certain embodiments commensurate in scope with the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the present disclosure, but rather are intended merely to provide a brief overview of certain disclosed embodiments. Indeed, the present disclosure may encompass a wide variety of forms that may be similar to or different from the embodiments set forth below.

[0005] In one embodiment, a system includes an optical sensor configured to detect an object in an area. The system also includes a controller configured to: receive first data indicating a first position of the object from the optical sensor, receive second data indicating a second position of the optical sensor, calculate position data based on the first position and the second position, and transmit the position data to the object via an optical signal.

[0006] In one embodiment, an optical tracking system includes an optical sensor configured to detect a first object and a second object in an area. The system also includes a controller configured to receive first data indicating a first position of the first object from the optical sensor. The controller also receives second data indicating a second position of the second object from the optical sensor, and receives third data indicating an additional position of the optical sensor. The controller calculates first position data for the first object based on the first position and the additional position, and calculates second position data for the second object based on the second position and the additional position. The controller also instructs a light emitter to transmit the first position data to the first object via a first optical signal, and instructs the light emitter to transmit the second position data to the second object via a second optical signal.

[0007] In one embodiment, a method includes receiving, at one or more processors, position data from an optical sensor configured to detect light from an object in an area. The method also includes calculating, via the one or more processors, position data indicating a relative position between the object and the area based on the position data. The method further includes transmitting the position data to the object via an optical transmitter. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout, and in which:

[0009] Figure 1 is a schematic diagram of an optical tracking system according to an embodiment of the present disclosure, the optical tracking system including a controller coupled to a plurality of optical sensors equipped with light emitters that facilitate tracking an object having a retroreflector;

[0010] Figure 2 is a schematic diagram of an optical tracking system according to an embodiment of the present disclosure, the optical tracking system including a controller coupled to a plurality of optical sensors that detect light emitted from a light emitter coupled to an object;

[0011] Figure 3 is a schematic diagram of an optical tracking system according to an embodiment of the present disclosure, the optical tracking system including a controller coupled to an object worn by a customer (e.g., a head-mounted display [HMD]);

[0012] Figure 4is a schematic diagram of an optical tracking system according to an embodiment of the present disclosure, the optical tracking system including an optical sensor having a light emitter that facilitates tracking of multiple objects;

[0013] Figure 5 According to an embodiment of the present disclosure, Figure 4 Example application of the optical tracking system in an amusement park; and

[0014] Figure 6 is a flowchart of a method for tracking an object using an optical tracking system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0015] One or more specific embodiments will be described below. In an effort to provide a concise description of these embodiments, not all features of an actual implementation are described in this specification. It should be noted that in the development of any such actual implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Furthermore, it should be noted that such development work may be complex and time-consuming, but will be no more than a routine task of design, fabrication, and manufacturing for a person of ordinary skill having the benefit of this disclosure.

[0016] When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the," "said," are intended to mean that there are one or more of the elements described. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements in addition to the listed elements. One or more specific embodiments of the presented embodiments described herein will be described below. In an effort to provide a concise description of these embodiments, not all features of an actual implementation may be described in this specification. It should be noted that in the development of any such actual implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. In addition, it should be noted that such development work may be complex and time-consuming, but will be nothing more than a routine task of design, fabrication, and manufacturing for those of ordinary skill in the art who benefit from this disclosure.

[0017] In many situations, an optical tracking system, such as a motion capture system, can be useful. One common type of motion capture system uses a set of infrared (IR) cameras, and each IR camera includes a lens and an IR light source pointing in the same direction as the lens. The object(s) to be tracked have retroreflective markers. The IR light source emits IR light, and the light bounces off the retroreflective markers and returns to the lens of the IR camera. All IR cameras send their images to a controller, which calculates the relative positions of all IR cameras and the object(s) in three-dimensional (3D) space. The controller transmits data to other devices using wired, wireless, and / or radio frequency for use in a larger system.

[0018] One of the disadvantages of this type of motion capture system is that if the tracked object(s) are to receive their own position data, the object(s) need to have a wired, wireless, or radio frequency connection. A wired connection may limit the movement of the object(s). Further, the amount of latency between the image being captured and the object(s) receiving their position data may sometimes be high (due to limitations in transmitting data wirelessly via radio frequency). Keeping latency low is particularly important for certain uses such as augmented reality (AR) and virtual reality (VR). For example, it is currently recognized that this is particularly important for head-mounted displays (HMDs) that are configured to be worn by a customer and that are configured to project AR images as an overlay onto a real-world environment for visualization by the customer (e.g., configured to project AR images in a manner coordinated with the real-world environment based on the position data of the HMD in space relative to the real-world environment).

[0019] Additionally, in this type of motion capture system, the time it takes to transmit the image to the controller and process the retroreflective marker positions in the software adds additional latency. Furthermore, in order to transmit the data to another system or back to the object(s) themselves (via radio frequency), the mesh network should be established and carefully calibrated to avoid interference and obstructions from physical structures.

[0020] The present disclosure relates to an optical tracking system that can track one or more objects (e.g., portable devices, including wearable devices; vehicles) and provide position data to the one or more objects. The optical tracking system can be used in any of a variety of environments, such as, for example, amusement parks, theaters, restaurants, workplaces, residential locations, parking lots, and / or storage facilities. In one embodiment, the optical tracking system can use a variety of optical sensors (e.g., cameras, light detectors, LiDAR) to detect light (e.g., IR light; visible light) reflected or emitted from one or more objects. The optical tracking system can analyze received signals from the optical sensors, generate position data (e.g., the relative position between the optical sensors and the one or more objects; the relative position between the one or more objects and the environment), and transmit the position data to the one or more objects. In this manner, each of the one or more objects can know its respective position relative to the environment. Advantageously, the optical tracking system can transmit the position data to the one or more objects via optical signals, such as IR light.

[0021] In one embodiment, an optical tracking system may include optical sensors, each coupled to one or more illuminators (e.g., light emitters; light emitting diodes [LEDs], arrays of LEDs, or other types of actively powered illuminators) that emit light (e.g., IR light, visible light) that illuminates one or more objects. Each of the one or more objects may have a retroreflective marker that reflects a portion of the light emitted from the one or more illuminators. The optical sensors may detect the reflected light and generate a signal indicating the position of the object among the one or more objects in an environment. Each of the optical sensors may transmit the signal to a controller (e.g., communicatively coupled to or internal to a camera), which may process the signal and generate position data (e.g., including a relative position between the object and the optical sensor; a relative position between the object and the environment, which may be determined or derived based on the relative position between the object and the optical sensor and a known relationship between the optical sensor and the environment). Additionally, the controller may transmit the position data to the object via an optical signal (e.g., using one or more illuminators; a modulated light signal encoding the position data). The object may receive the light signal using the optical receiver so that the object may know the object's position (eg, relative to the optical sensor and / or the environment).

[0022] In one embodiment, one or more objects may have coupled emitters (e.g., LEDs, arrays of LEDs, or other types of actively powered illuminators, such as flashing LEDs, that emit bright but brief, sudden, or intermittent light) that can emit light (e.g., IR light, visible light). The emitted light can be detected by optical sensors adjacent to the one or more objects. Upon receiving the emitted light from a particular object among the one or more objects, each of the one or more optical sensors can send a signal indicating the location of the particular object to a controller, which can process the signal and generate position data for the particular object. The controller can instruct one or more illuminators in the environment to emit light signals including the position data. The object can receive the position data via an optical receiver.

[0023] Optical tracking systems can have certain advantages, such as improved data transmission and reduced signal interference. For example, because an optical sensor uses line of sight to one or more objects to detect one or more objects, that same line of sight can be used to send data to the one or more objects (using one or more illuminators at the optical sensor). Using light for data transmission also reduces the chance of interference from other devices such as cellular phones (e.g., as compared to using radio frequency for data transmission).

[0024] In view of the above, Figure 1 FIG1 is a schematic diagram of one embodiment of an optical tracking system 12 including a controller (e.g., a control system, an electronic controller) 16 coupled to an optical sensor 18 equipped with a light emitter 24 for tracking an object 20 located in an area 14 (e.g., an amusement park, a theater, a restaurant, a workplace, a residence, a parking lot, a storage location). As shown, the controller 16 may be located in a control room and communicatively coupled (e.g., by wire or wirelessly) to the optical sensor 18.

[0025] In one embodiment, the optical sensor 18 may include a camera operating in visible light (e.g., a wavelength range from 380 to 700 nanometers), infrared (IR) light (e.g., a wavelength range from 780 nanometers to 1 millimeter), or other suitable light. In one embodiment, the optical sensor 18 may include other optical sensors and optical tracking devices, such as IR sensors or light detection and ranging (LiDAR) sensors for detecting distance based on detection of light (e.g., modulated light), optical sensors that provide artificial vision (e.g., to the controller 16) for object recognition and tracking, or any combination thereof.

[0026] Optical sensor 18 may include a light emitter 24 that can emit light (e.g., visible or IR light) to illuminate object 20. For example, optical sensors 18A, 18B, 18C, and 18D may include emitters 24A, 24B, 24C, and 24D, respectively. Each emitter 24A, 24B, 24C, and 24D may include one or more light emitting elements (e.g., IR or visible light emitting diodes [LEDs]) that can generate light (e.g., IR or visible light) to illuminate object 20 within area 14. For example, light emitter 24A coupled to optical sensor 18A may emit light 30 to illuminate object 20, and light emitter 24B coupled to optical sensor 18B may also emit light 60 to illuminate object 20.

[0027] Object 20 may be any optically trackable object, such as a portable object configured to be worn or carried by a customer. For example, the portable object may include any handheld and / or wearable device (e.g., a head-mounted display [HMD], a cell phone, a tablet, a souvenir, a toy, a strap, a wand). However, it should be appreciated that object 20 may include other types of objects, such as furniture, vehicles (e.g., amusement park rides), and the like. Object 20 may include a retroreflector 36 (e.g., at least one; a retroreflective marker, a reflective device, or a reflective surface) that reflects radiation (e.g., light) back to light emitter 24 (e.g., with limited scattering). In some cases, retroreflector 36 may be coupled to or integrated into object 20 (e.g., via a fastener, such as an adhesive, a thread, a bolt; woven into, painted on, machined, molded).

[0028] Optical sensors 18 (e.g., optical sensors 18A-18D) may detect light reflected back from object 20 (e.g., light emitted from light emitter 24 and reaching object 20). For example, optical sensor 18A may detect reflected light 40 (e.g., a portion of light 30 emitted from light emitter 24A and reflected back from retroreflector 36 of object 20). Similarly, optical sensor 18B may detect reflected light 70 (e.g., a portion of light 60 emitted from light emitter 24B and reflected back from retroreflector 36 of object 20).

[0029] After detecting reflected light (e.g., light 40 and 70), optical sensor 18 may generate a signal indicating the position of object 20. For example, based on detected light 40 (e.g., based on the arrival time, direction, light intensity, and / or other properties of light 40, such as frequency and / or polarization), optical sensor 18A may generate signal 42A. Signal 42A may indicate the relative position between object 20 and optical sensor 18A. Based on detected light 70 (e.g., based on the arrival time, direction, light intensity, and / or other properties of light 70), optical sensor 18B may generate signal 42B. Signal 42B may indicate the relative position between object 20 and optical sensor 18B. Similarly, based on detected light reflected from retroreflector 36 of object 20, other optical sensors (e.g., 18C, 18D) may generate corresponding signals (e.g., 42C, 42D).

[0030] In one embodiment, each of the signals (e.g., 42A-42D) may include additional information. For example, signal 42A may include information indicating the position of optical sensor 18A (e.g., the relative position between optical sensor 18A and area 14, such as according to a local coordinate system established for area 14; an identifier of optical sensor 18A linked to the position of optical sensor 18A). Such information may be used to calculate the position of object 20 relative to area 14 based on the signals (e.g., 42A-42D).

[0031] The optical sensors 18 (e.g., 18A-18D) may transmit (e.g., via a communication link, such as an electrical cable 46 or a fiber optic cable) signals (e.g., 42A-42D) to the controller 16. The controller 16 may include one or more processors 82, a memory device 84, and a communication component 86. In one embodiment, the controller 16 may include additional components, such as a receiver and a transmitter for receiving or transmitting data (e.g., via radio frequencies, optical frequencies, other communication frequencies, or any combination thereof). In one embodiment, the controller 16 may include input / output devices and / or a display that may enable a user (e.g., a customer) associated with the object 20 to interact with certain data (e.g., a location map, an image).

[0032] In one embodiment, each of optical sensors 18 may send a simplified version of the data indicating the location of object 20 to controller 16. For example, optical sensor 18A (including a camera) may perform basic spot detection to identify where retroreflectors 36 are located in captured image frames and then transmit only image frames with identified retroreflectors 36 to controller 16, thereby reducing the amount of data transmitted and increasing the overall bandwidth of optical tracking system 12.

[0033] The processor 82 may process instructions for execution within the controller 16. The processor 82 may include (one or more) single-threaded processors, (one or more) multi-threaded processors, or both. The processor 82 may process instructions stored in the memory 84. The processor 82 may also include (one or more) hardware-based processors, each including one or more cores. The processor 82 may include (one or more) general-purpose processors, (one or more) special-purpose processors, or both. The processor 82 may include one or more general-purpose microprocessors, one or more special-purpose processors (ASICs), one or more field-programmable gate arrays (FPGAs), or any combination thereof. For example, the special-purpose processor(s) may include (one or more) artificial intelligence processor(s) designed based on machine learning and artificial neural networks. The artificial intelligence processor(s) may read various positional data associated with the object 20, other objects near the object 20, and the optical sensor 18, and perform calculations based on the positional data. The processor 82 may be communicatively coupled to other internal components (such as the memory 84, the communication component 86, input / output devices, and a display).

[0034] The memory 84 can be any suitable article of manufacture that can serve as a medium for storing processor-executable code, data, or the like. These articles of manufacture can represent computer-readable media (e.g., any suitable form of memory or storage device) that can store processor-executable code used by the processor 82 to perform the currently disclosed techniques. As used herein, an application can include any suitable computer software or program that can be installed on the controller 16 and executed by the processor 82. The memory device 84 can represent a non-transient computer-readable medium (e.g., any suitable form of memory or storage device) that can store processor-executable code used by the processor 82 to perform the various techniques described herein. For example, the memory device 84 can include random access memory (RAM), read-only memory (ROM), rewritable non-transient memory, such as flash memory, a hard drive, an optical disk, and / or the like. It should be noted that non-transient simply indicates that the medium is tangible and not a signal.

[0035] The communication component 86 can be a wireless or wired communication component that facilitates communication between the controller 16 and other devices (e.g., optical sensors) via a network. For example, the communication component 86 can allow the controller 16 to obtain data from a variety of data sources, such as the optical sensor 18, one or more databases (e.g., an optical sensor position database, a controller position database, a map database), a user device (e.g., the object 20, an HMD, a smartphone, a tablet), a vehicle system (e.g., a driving system on or in a ride vehicle), and the like. The communication component 86 can send and receive notifications to the user device and / or the vehicle system. The communication component 86 can use a variety of communication protocols, such as Open Database Connectivity (ODBC), TCP / IP, Distributed Relational Database Architecture (DRDA), Database Change Protocol (DCP), HTTP, other suitable current or future protocols, or combinations thereof.

[0036] Processor 82 may be configured to receive signals 42A-42D transmitted from optical sensors 18A-18D (e.g., via communication component 86). In response, processor 82 may calculate positional data associated with object 20. For example, based on signal 42A, processor 82 may calculate positional data of object 20 relative to optical sensor 18A. Calculating the positional data may include analyzing properties of light 40, calculating a relative distance and orientation between object 20 and optical sensor 18A, retrieving coordinates 22 of optical sensor 18A, and calculating coordinates 26 of object 20 (e.g., relative coordinates between object 20 and area 14).

[0037] Coordinates 22 may include coordinate data of optical sensor 18A, such as Cartesian coordinates (X, Y, and Z) measured relative to a Cartesian coordinate system including axis 52, axis 53, and axis 56. C 、Y C and Z C Additionally, the coordinate data may include orientation data, such as a yaw angle (YAW) indicating the orientation of the optical sensor 18A. C ), PITCH C ) and roll angle (ROLL C Coordinates 22 may be relative coordinates (eg, in a local coordinate system established for area 14 ) or non-relative coordinates (eg, in a global coordinate system such as Global Positioning System [GPS] coordinates).

[0038] Coordinates 26 may include coordinate data of object 20 relative to optical sensor 18. For example, coordinates 26 may include Cartesian coordinates (X, Y, and Z) of object 20 relative to optical sensor 18A. O 、Y O and Z OAdditionally, the coordinate data of the object 20 may include orientation data, such as a yaw angle (YAW) indicating the orientation of the object 20 relative to the optical sensor 18A. O ), PITCH O ) and roll angle (ROLL O ).

[0039] In one embodiment, the signals (e.g., 42A-42D) may not include the locations of the optical sensors (e.g., 18A-18D). For example, the controller 16 may store (e.g., via the memory device 84) the corresponding coordinates for each of the optical sensors 18. In such cases, the controller 16 may use the stored locations of the optical sensors (e.g., 18A-18D) to calculate the coordinates 26 of the object 20.

[0040] After calculating the coordinates 26 of the object 20, the controller 16 may send the coordinates 26 to the optical sensor 18 (e.g., via the communication component 88). For example, the controller 16 may send a portion of the coordinates 26 to the optical sensor 18A (e.g., a portion corresponding to the relative coordinates of the object 20 relative to the optical sensor 18A). In response, the optical sensor 18A may send an optical signal to the object 20. The optical signal may include the relative coordinates of the object 20 relative to the optical sensor 18A. The optical sensor 18A may generate the optical signal using an optical transmitter 44A and transmit the optical signal via light 48 (e.g., IR or visible light; a modulated light signal encoding position data). The object 20 may include an optical receiver 54 configured to receive the light 48 carrying the position data (e.g., the relative coordinates of the object 20 relative to the optical sensor 18A). The position data may be utilized by the object 20 and may enable the object 20 to know its position relative to the optical sensor 18A and / or the area 14. It should be appreciated that optical sensor 18A may use emitter 24A to generate an optical signal and transmit the optical signal via light 48 (e.g., IR or visible light; a modulated light signal encoding position data). In such cases, optical sensor 18A may include emitter 24 to emit light 30 to be reflected back from retroreflector 36 of object 20 and also emit light 48 that provides position data to object 20 (e.g., optical sensor 18A includes emitter 24A and does not have a separate optical transmitter, such as without Figure 1 4A; emitter 24A is or operates as optical transmitter 44A). In practice, any of optical sensors 18A, 18B, 18C, 18D may utilize respective emitters 24A, 24B, 24C, 24D to track object 20 and also provide position data to object 20.

[0041] Similarly, controller 16 may send a different portion of coordinates 26 (e.g., a portion corresponding to the relative coordinates of object 20 relative to optical sensor 18B) to optical sensor 18B. In response, optical sensor 18B may send a different optical signal to object 20. The different optical signal may include the relative coordinates of object 20 relative to optical sensor 18B. Optical sensor 18B may use optical transmitter 44B (or emitter 24B) to generate the optical signal and transmit the optical signal via light 78 (e.g., IR or visible light). Object 20 may use optical receiver 54 to receive light 78 carrying positional data (e.g., the relative coordinates of object 20 relative to optical sensor 18B). Object 20 may utilize the positional data and enable object 20 to know its location relative to optical sensor 18A and / or area 14. Further, it should be appreciated that the controller 16 may determine coordinates 26 of the object 20 (e.g., relative to the area 14) and instruct one or more of the optical sensors (e.g., 18A and / or 18B) to provide the coordinates 26 of the object 20 to the object 20 via corresponding optical signals (e.g., light 48 and / or 78).

[0042] In one embodiment, the light emitters 24 on or in the optical sensors 18 may include digital projectors or similar directional light sources. Such directional light sources may allow each of the optical sensors 18 to transmit position data to a specific tracked object (e.g., to object 20) without transmitting the same data to other tracked objects (e.g., in addition to object 20), thereby increasing the overall bandwidth of the optical tracking system 12.

[0043] In one embodiment, based on the position data received via the optical receiver 54, the object 20 may further process and / or utilize the position data using some device (e.g., on the object 20 and / or a connected device, such as a ride controller that is onboard the ride and wired to the object 20). For example, the object 20 may be an HMD that utilizes the coordinates 26 to retrieve and display images via the HMD so that a customer wearing the HMD can view the images overlaid onto the real-world environment in the area 14 in a coordinated manner (e.g., with the images overlaid to appear integrated into the real-world environment). As another example, the position data may trigger effects (e.g., light, sound, haptics) on the object 20 (e.g., the object 20 is programmed to output certain effects based on the position and / or orientation of the object 20). As another example, the object 20 may be a mobile phone housing that supports the mobile phone and is communicatively coupled (e.g., wired or wirelessly) to the mobile phone. The mobile phone housing can then communicate the position data to the mobile phone, and applications on the mobile phone can utilize the position data to display relevant information, enable interaction with area 14 via inputs on the mobile phone, and so on. As another example, the position data can enable object 20 and / or connected devices to obtain and / or determine enhanced position data, such as a position map indicating the relative position of object 20 relative to other objects (e.g., other HMDs in a ride vehicle) in area 14. In this manner, optical tracking system 12 can enable certain coordinated events (e.g., a theme park event involving multiple patrons and / or multiple rider cars) based on the relative positions of multiple objects (including object 20).

[0044] Although controller 16 and optical sensor 18 are described as being communicatively coupled to each other via cable 46, it should be noted that, in one embodiment, controller 16 and optical sensor 18 may be communicatively coupled to each other via radio frequency signals, optical signals (e.g., using visible light or IR light). In one embodiment, controller 16 or optical sensor 18 may also use wired or radio frequency signals in addition to optical signals (e.g., via lights 48 and 78) to transmit position data to object 20. Such additional data transmission may serve as a backup communication (e.g., when the default communication fails, is jammed, or is otherwise obstructed).

[0045] In some cases, optical tracking system 12 may be implemented using different methods using more or fewer devices (e.g., tracking devices, such as optical sensor 18) or components (e.g., light emitters 24). For example, in one embodiment, light emitters 24 may be coupled to one or more structures in area 14, such that optical sensor 18 may not include light emitters 24. This may enable light emitters 24 to be hidden from view by patrons in area 14. For example, object 20 may be located on, within, or covering a tabletop for patron visualization, and at least a portion of object 20 (e.g., the base of object 20) with optical receiver 54 may be exposed in the space below the tabletop. Light emitter 24 may then be hidden beneath the tabletop, transmitting positional data for detection by optical receiver 54. In one embodiment, a single optical sensor 18 may be used to track object 20 in area 14. In one embodiment, certain devices or components may be a combination of the tracked object and the tracking device.

[0046] In view of the above, Figure 2 FIG1 is a schematic diagram of an embodiment of an optical tracking system 12 that includes a controller 16 coupled to an optical sensor 18 (e.g., optical sensors 18A-18D). The optical sensor 18 is configured to receive light 48 and / or 78 emitted from a light emitter 24F coupled to an object 20. The optical sensor 18 may not include a light emitter (e.g., a light source) that emits light 48 and / or 78 (e.g., visible or IR light) that illuminates the object 20. Figure 1 ). Instead, object 20 may have a light emitter 24F that may emit light 48 and / or 78 (e.g., visible or IR light) detectable by optical sensor 18. For example, light emitter 24F may be coupled to object 20 and / or integrated therein.

[0047] Light emitter 24F may emit light 48 and / or 78 (e.g., visible or IR light). A portion of the light (e.g., light 110) may reach optical sensor 18A. Optical sensor 18A may detect light 110 and generate a signal indicating the position of object 20 relative to optical sensor 18A. For example, optical sensor 18A may generate signal 42A based on the detected light 110 (e.g., based on the arrival time, direction, light intensity, and / or other properties of light 110). Signal 42A may indicate the relative position between object 20 and optical sensor 18A.

[0048] A different portion of the light (e.g., light 120) may arrive at optical sensor 18B. Optical sensor 18B may detect light 120 and generate a signal indicating the position of object 20 relative to optical sensor 18B. For example, optical sensor 18B may generate signal 42B based on the detected light 120 (e.g., based on the arrival time, direction, light intensity, and / or other properties of light 120). Signal 42B may indicate the relative position between object 20 and optical sensor 18B. Similarly, other optical sensors (e.g., 18C, 18D) may generate corresponding signals (e.g., 42C, 42D) based on the detected light emitted from light emitter 24F of object 20.

[0049] As reference Figure 1 As described herein, processor 82 receives (e.g., via communication component 86) signals 42A-42D transmitted from optical sensors 18A-18D and calculates position data (e.g., coordinates 26) associated with object 20. After calculating coordinates 26 of object 20, controller 16 may transmit (e.g., via communication component 88) coordinates 26 to one or more of optical sensors 18. In response, one or more of optical sensors 18 may transmit (e.g., via corresponding optical transmitter 44) an optical signal via corresponding light (e.g., light 48 or 78) to object 20. Object 20 may use optical receiver 54 to receive light 48 and / or 78 carrying position data (e.g., coordinates 26 of object 20). Based on the position data received via optical receiver 54, object 20 may utilize certain devices to further process and / or utilize the position data, as described herein. For example, the position data may trigger effects (eg, light, sound, haptics) on object 20 (eg, object 20 is programmed to output certain effects based on the position and / or orientation of object 20).

[0050] Figure 3 is a schematic diagram of one embodiment of an optical tracking system 12 including a controller 16 coupled to an object (e.g., a head mounted display (HMD) 160) worn by a customer 170 in an area 14. Figure 2 Similarly, optical sensor 18 may not include light emitter 24 that emits light (e.g., visible or IR light) that illuminates HMD 160 and customer 170. As shown, HMD 160 may include light emitter 24F (e.g., as a built-in device) that can emit light (e.g., visible or IR light) detectable by optical sensor 18. As shown, controller 16 may be part of HMD 160.

[0051] For example, a portion of the light emitted from light emitter 24F in HMD 160 (e.g., light 164) may reach optical sensor 18A. Optical sensor 18A may detect light 164 and generate a signal indicating the position of HMD 160 (and customer 170) relative to optical sensor 18A. Optical sensor 18A may generate the signal based on the detected light 164 (e.g., based on the arrival time, direction, light intensity, and / or other properties of light 164). The signal may indicate the relative position between HMD 160 and optical sensor 18A.

[0052] Optical sensor 18A may transmit the signal as an optical signal to HMD 160 (e.g., via optical transmitter 44A and encoded in light 168). HMD 160 may receive light 168 using optical receiver 54. Further, HMD 160 may use controller 16 to calculate positional data associated with HMD 160 (e.g., coordinates 26 relative to optical sensor 18A and / or area 14). Coordinates 26 may include coordinate data of HMD 160 relative to optical sensor 18A and / or area 14.

[0053] Similarly, optical sensor 18B may transmit different signals as different optical signals to HMD 160 (e.g., via optical transmitter 44B and encoded in light 178). The different optical signals may indicate the relative position between HMD 160 and optical sensor 18B. HMD 160 may receive light 178 using optical receiver 54. Further, HMD 160 may use controller 16 to calculate position data associated with HMD 160 (e.g., coordinates 26 relative to optical sensor 18B and / or area 14). Coordinates 26 may include coordinate data of HMD 160 relative to optical sensor 18B and / or area 14.

[0054] HMD 160 may utilize the positional data (e.g., coordinates 26) to provide information to patron 170 and / or adjust the operation of HMD 160. For example, HMD 160 may display the location of patron 170 in area 14. As another example, HMD 160 may utilize the positional data to display specific imagery (e.g., AR and / or VR imagery) based on the positional data for patron 170 to visualize (e.g., coordinated with effects in area 14 and / or the real-world environment in area 14). In particular, HMD 160 may display corresponding imagery coordinated with effects in area 14, such as sound effects, visual effects, and / or haptic effects (e.g., an AR or VR image of a dragon coordinated with heat from a heat source; an AR image of a bird appearing to be perched on a rooftop because it is coordinated with a background image of the rooftop on the display in the real-world environment). In this way, optical tracking system 12 may be able to enable or improve certain coordinated events (e.g., theme park events involving patron 170 and other patrons) based on the relative positions of multiple patrons (including patron 170), resulting in an enhanced experience in area 14.

[0055] As noted herein, HMD 160 may include an AR device that provides an augmented, interactive version of the real-world environment (e.g., area 14) through imagery overlaid on and / or displayed in coordination with other digital visual elements, sounds, and / or other sensory stimuli (e.g., via haptic technology) on HMD 160. In such cases, HMD 160 may utilize the position of HMD 160 to provide a more accurate overlay of imagery onto the real-world environment, which may further enhance the experience of patron 170 via certain coordinated events and effects.

[0056] Although controller 16 is described as being a separate part of HMD 160, it should be noted that, in one embodiment, the functionality and / or components of controller 16 may be integrated into HMD 160. For example, in one embodiment, HMD 160 may not include controller 16. Instead, similar functionality, such as calculating positional data associated with HMD 160 (e.g., coordinates 26), may be performed by any suitable processor of HMD 160 and / or communicatively coupled to HMD 160 (e.g., via a wired or wireless connection).

[0057] In one embodiment, each of the optical sensors 18 may send a simplified version of the data indicating the position of the HMD 160 to the HMD 160 for further processing. For example, the optical sensor 18A (including the camera) may perform basic spot detection to identify image frames having light from the light emitter 24F, and then transmit only the identified image frames to the HMD 160, thereby reducing the amount of data transmitted and improving communication bandwidth.

[0058] Figure 4 FIG2 is a schematic diagram of an embodiment of an optical tracking system 12 including an optical sensor 18H having a light emitter 24H for tracking multiple objects. For example, the multiple objects being tracked may include an HMD 212 worn by a customer 210 and an HMD 222 worn by a customer 220. As shown, the controller 16 is integrated with the optical sensor 18H.

[0059] For example, the optical sensor 18H may include one or more wide-angle field of view cameras that can capture images of multiple objects at different locations in the area 14. In some cases, the optical sensor 18H may be implemented on or in one or more flying objects (e.g., drone 204) or structures (e.g., cell tower 208). Such flying objects or structures may provide the optical sensor 18H with a better field of view to improve object tracking in the area 14. In one embodiment, the object 20 may include a flying object (e.g., drone 204). The drone 204 may include an autonomously controlled (e.g., following a programmed flight path) and / or remotely controlled (e.g., following control inputs provided by an operator at a remote location) aerial vehicle.

[0060] As shown, optical sensor 18H can simultaneously track multiple objects (e.g., HMDs 212 and 222). For example, optical sensor 18H (e.g., including one or more wide-angle field-of-view cameras) can identify and track each object by detecting a known marker pattern or shape associated with a retroreflector 36 coupled to the corresponding object. Alternatively, in one embodiment, optical sensor 18H can identify and track each object (e.g., HMDs 212 and 222) by reading light emitted from a corresponding emitter 24 containing active IR pulses (e.g., having a different frequency from each object being tracked).

[0061] HMD 212 may have a retroreflector 36A (e.g., coupled to a frame, cover, and / or strap of HMD 212) that may reflect light (e.g., IR or visible light) emitted from light emitter 24H of optical sensor 18H. Similarly, HMD 222 may have a retroreflector 36B (e.g., coupled to a frame, cover, and / or strap of HMD 222) that may reflect light (e.g., IR or visible light) emitted from light emitter 24H of optical sensor 18H. It should be appreciated that retroreflectors 36A and 36B may each represent or include a plurality of different retroreflectors.

[0062] For example, retroreflector 36A may reflect a portion of light 214 emitted from light emitter 24H. The reflected light (e.g., light 216) may reach optical sensor 18H. Optical sensor 18H may detect light 216 and generate a first signal indicating the position of HMD 212 relative to optical sensor 18H. Optical sensor 18H may generate the first signal based on the detected light 216. The first signal may indicate the relative position of customer 210 and optical sensor 18H and / or area 14.

[0063] Controller 16 (e.g., processor 82 of controller 16) may be configured to receive (e.g., via communication component 86) a first signal transmitted from optical sensor 18H. In response, controller 16 may calculate positional data associated with customer 210 and / or HMD 212. For example, based on the first signal, controller 16 may calculate positional data of HMD 212 relative to optical sensor 18H. Calculating the positional data may include analyzing properties of light 216, calculating a relative distance and orientation between HMD 212 and optical sensor 18H, retrieving coordinates 22 of optical sensor 18H, and calculating coordinates 26 of HMD 212 (e.g., relative coordinates between optical sensor 18H and HMD 212 and / or between HMD 212 and area 14). Coordinates 26 of HMD 212 may include coordinate data of HMD 212 relative to optical sensor 18H. In one embodiment, controller 16 may use stored position data (eg, coordinates 22 of optical sensor 18H) to directly calculate coordinates 26 of HMD 212 relative to area 14 .

[0064] After calculating the coordinates 26 of the HMD 212, the controller 16 may send the coordinates 26 of the HMD 212 to the optical sensor 18H (e.g., via the communication component 88). In response, the optical sensor 18H may send a first optical signal to the HMD 212 via light 218 (e.g., via the optical transmitter 44H or the emitter 24H). The first optical signal may include the coordinates 26 of the HMD 212. The HMD 212 may receive the light 218 carrying the first optical signal using the optical receiver 54A.

[0065] Similarly, retroreflector 36B on HMD 222 may reflect a portion of light 230 emitted from light emitter 24H. Reflected light (e.g., light 234) may reach optical sensor 18H (e.g., at a different angle of incidence than light 216). Optical sensor 18H may detect light 234 and generate a second signal indicating the position of HMD 222 relative to optical sensor 18H. Optical sensor 18H may generate the second signal based on the detected light 234. The second signal may indicate the relative position of customer 220 and optical sensor 18H and / or area 14.

[0066] Controller 16 (e.g., processor 82 of controller 16) may be configured to receive the second signal transmitted from optical sensor 18H. In response, controller 16 may calculate positional data associated with customer 220 and / or HMD 222. For example, based on the second signal, controller 16 may calculate positional data of HMD 222 relative to optical sensor 18H. Calculating the positional data may include analyzing properties associated with light 234, calculating the relative distance and orientation between HMD 222 and optical sensor 18H, retrieving coordinates 22 of optical sensor 18H, and calculating coordinates 26 of HMD 222 (e.g., relative coordinates between optical sensor 18H and HMD 222 and / or between HMD 222 and area 14). Coordinates 26 of HMD 222 may include coordinate data of HMD 222 relative to optical sensor 18H. In one embodiment, controller 16 may use stored position data (eg, coordinates 22 of optical sensor 18H) to directly calculate coordinates 26 of HMD 212 relative to area 14 .

[0067] After calculating the coordinates 26 of the HMD 222, the controller 16 may send the coordinates 26 of the HMD 222 to the optical sensor 18H (e.g., via the communication component 88). In response, the optical sensor 18H may send a second optical signal to the HMD 222 via light 238 (e.g., via the optical transmitter 44H or the transmitter 24H). The second optical signal may include the coordinates 26 of the HMD 222. The HMD 222 may receive the light 238 carrying the second optical signal using the optical receiver 54B.

[0068] Although this article focuses on Figure 1-4 The optical tracking system 12 is described as including the use of multiple optical sensors 18 to track at least one object (e.g., object 20) or the use of at least one optical sensor (e.g., optical sensor 18H) to track multiple objects (e.g., HMDs 212 and 222), but it should be noted that in one embodiment, the optical tracking system 12 may be implemented with different features. For example, in one embodiment, the optical tracking system 12 may include the use of multiple optical sensors 18 to simultaneously track multiple objects in the area 14. For example, only light in the field of view of a given object (e.g., HMD 212 or HMD 222) may be used to transmit data to that given object. Additionally or alternatively, only data intended for a given object in the field of view of the optical sensor may be transmitted by the optical sensor (e.g., via a directional light source and / or a light signal encoded for a specific object).

[0069] In view of the above, Figure 52 is an example application 250 in an amusement park using the optical tracking system 12. While in a ride vehicle 256 (e.g., traveling on a path 258) in a ride area 14 (e.g., an amusement park), patrons 210 and 220 may wear HMDs 212 and 222, respectively. As mentioned herein, HMD 212 may have a retroreflector 36A that may reflect a portion of light 214 emitted from light emitter 24H. The reflected light (e.g., light 216) may reach optical sensor 18H, which may detect light 216 and generate a first signal indicating the relative orientation between HMD 212 and optical sensor 18H. Additionally, optical sensor 18H may generate a second signal indicating the relative orientation between HMD 222 and optical sensor 18H based on light 234 reflected from retroreflector 36B coupled to HMD 222. For clarity, light 234 and retroreflector 36B are shown in FIG. Figure 5 Not shown in the figure.

[0070] The controller 16 (e.g., the processor 82 of the controller 16) may be configured to receive (e.g., via the communication component 86) the first and second signals from the optical sensor 18H. In response, the controller 16 may calculate positional data associated with the HMDs 212 and 222. The positional data may include the respective coordinates of the HMDs 212 and 222. After calculating the coordinates of the HMDs 212 and 222, the controller 16 may send (e.g., via the communication component 88) the coordinates of the HMDs 212 and 222 to the optical sensor 18H, which may send (e.g., via the optical transmitter 44H or the emitter 24H) the first optical signal to the HMD 212 via light 218 and the positional data to the HMD 222 via light 238 (for clarity). Figure 5 18H and / or area 14.

[0071] Additionally, ride vehicle 256 may include a retroreflector 36M that can reflect a portion of light 270 emitted from light emitter 24H. The reflected light (e.g., light 276) may reach optical sensor 18H, which may detect light 276 and generate a third signal indicating the relative position between ride vehicle 256 and optical sensor 18H. Controller 16 may be configured to receive (e.g., via communication component 86) the third signal from optical sensor 18H. In response, controller 16 may calculate positional data associated with ride vehicle 256. The positional data may include coordinates of ride vehicle 256 (e.g., relative to optical sensor 18H, HMDs 212 and 222, and / or area 14).

[0072] Furthermore, the controller 16 may utilize the coordinates of the HMD 212, the HMD 222, and the ride vehicle 256 to calculate a first relative position between the HMD 212 and the ride vehicle 256 and a second relative position between the HMD 222 and the ride vehicle 256. The controller 16 may use the first and second relative positions to perform certain proactive and / or preventative actions associated with the HMDs 212 and 222 and the ride vehicle 256. For example, the controller 16 may determine that a potential maintenance issue may exist with the HMD 212 based on the first relative position indicating that the HMD 212 (and, therefore, the customer 210) may be seated too close to the door of the ride vehicle 256. In response to the potential maintenance issue, the controller 16 may send a command to the ride vehicle controller of the ride vehicle 256 (e.g., via the communication component 86). The command may cause the ride vehicle controller to stop operation of the ride vehicle 256 for further diagnosis of the potential maintenance issue. Such proactive and / or preventative actions can improve the experience of patrons 210 and 220 while riding on ride vehicle 256 in area 14. It should be appreciated that similar features can be implemented for any user of area 14 (e.g., patrons and / or employees). Further, optical tracking system 12 can be used to track other types of objects carried or worn by users (e.g., laces, shoes, removable stickers, stamps, helmets). For example, patrons 210 and 220 can wear: HMDs 212 and 222 with retroreflectors 36A and 36B, which are tracked to facilitate coordination of imagery presented by HMDs 212 and 222; and / or laces with retroreflectors that are separately tracked to facilitate presentation of alerts and / or operational changes for various maintenance issues.

[0073] Figure 6 is a flow chart of a method 300 for tracking an object using the optical tracking system described herein. The optical tracking system may perform the operations described below via one or more processors (referred to as processor 82) based on processor-executable code stored in memory. The processor may execute the processor-executable code to perform object tracking based on tracking data transmitted from one or more optical sensors that may detect light (e.g., reflected or emitted light) from an object (e.g., object 20, HMD 160, HMD 212, HMD 222). Based on the tracking data and other relevant data, processor 82 may calculate position data, including the relative position between each object and the corresponding optical sensor 18, and / or the relative position between each object and an area (e.g., a coordinate system established for the area). Further, processor 82 may send the corresponding position data to the object.

[0074] Although method 300 is described in a particular order, it should be noted that method 300 can be performed in any suitable order and is not limited to the order presented herein. It should also be noted that although each processing block in method 300 is described below as being performed by an optical tracking system, other suitable computing systems can perform the methods described herein.

[0075] Now refer to Figure 6 At block 302, the optical tracking system may receive position data from an optical sensor (e.g., optical sensor 18A) that detects light from an object (e.g., object 20, HMD 160, HMD 212). The optical tracking system may receive the position data using a communication component via a wired and / or wireless communication link (e.g., cable 46) or wirelessly (e.g., using radio or optical signals). The position data includes location information indicating the position of the object. In one embodiment, the optical sensor may generate the position data based on light reflected from the object. For example, the optical sensor may include (or be coupled to) a light emitter or illuminator (e.g., light emitter 24A) that may emit illuminating light (e.g., IR or visible light). A portion of the illuminating light may be reflected by one or more retroreflectors (e.g., retroreflector 36A) built into or coupled to the object. The optical sensor may detect the reflected light and generate position data based on the reflected light from the object.

[0076] In one embodiment, the object may include (or be coupled to) a light emitter (e.g., light emitter 24F) that can emit active light (e.g., IR or visible light). The optical sensor can detect the active light and generate position data based on the active light emitted from the light emitter of the object.

[0077] At block 304, the optical tracking system may calculate orientation data based on the position data, the orientation data including the relative orientation between the object and the optical sensor. The optical tracking system may perform a set of actions for calculating the orientation data, such as analyzing certain properties associated with light reflected from or actively emitted by the object (e.g., arrival time, direction, light intensity, frequency, and / or polarization), calculating the relative distance and orientation between the object and the optical sensor, receiving or retrieving sensor coordinates of the optical sensor (e.g., including position coordinates [X], [Y ... C , Y C , Z C ] and directional data [YAW C , PITCH C and ROLL C ] coordinates 22), and calculates object coordinates including the object (eg, coordinates 26 may include Cartesian coordinates [X O ,Y O ,Z O] and directional information [YAW O 、PITCH O and ROLL O The position data may include relative position and orientation data between the object and the optical sensor and / or between the object and the area.

[0078] At block 306, the optical tracking system may send position data to the object. In one embodiment, the processor may be a component of a controller (e.g., controller 16) communicatively coupled to the optical sensor. The processor may send the position data to the optical sensor via a wired and / or wireless communication link (e.g., cable 46) or wirelessly (e.g., using radio or optical signals). In response, the optical sensor may transmit the position data to the object using an optical transmitter (e.g., optical transmitter 44A or emitter 24A) via an optical signal (e.g., an IR or visible light signal). The object may include an optical receiver that can receive the optical signal. The optical signal containing the position data may enable the object to know its position relative to the optical sensor and / or the area.

[0079] In one embodiment, the processor can be a component of a device (e.g., a device coupled to or integrated into an object). The processor can send position data directly to the object. By knowing the location of the object, the optical tracking system can implement or improve certain coordinated events (e.g., theme park events, including special effects) based on the position data, thereby resulting in an enhanced experience during the coordinated event in the area.

[0080] At block 308, the optical tracking system may receive additional position data from the optical sensor that detects light from the additional object. For example, the additional object may include another object (e.g., HMD 222) that is adjacent to the first object (e.g., HMD 212) or participating in a coordinated event with the first object. In some cases, the additional object may include a ride vehicle (e.g., ride vehicle 256) that is ridden by the customer and the additional customer.

[0081] The additional object may include (or be coupled to) additional one or more retroreflectors (e.g., retroreflector 36B) built into or coupled to the additional object. A portion of the illumination light emitted from a light emitter or illuminator (e.g., light emitter 24A) may be reflected back to the optical sensor, which may detect the reflected light and generate additional position data based on the reflected light from the additional object. In one embodiment, the additional object may include (or be coupled to) additional light emitters that may emit active light (e.g., IR or visible light). The optical sensor may detect the active light and generate additional position data based on the active light emitted from the additional light emitters of the additional object.

[0082] At block 310, the optical tracking system may calculate additional orientation data based on the additional position data, the additional orientation data including a first additional relative orientation between the additional object and the optical sensor. Calculating the first additional relative orientation may include analyzing properties associated with light reflected or actively emitted from the additional object (e.g., time of arrival, direction, light intensity, frequency, and / or polarization), calculating a relative distance and orientation between the additional object and the optical sensor, retrieving sensor coordinates of the optical sensor, and calculating the first additional relative orientation including the additional object coordinates and orientation information for the additional object. The first additional relative orientation may include relative position and orientation data between the additional object and the optical sensor and / or between the additional object and the area.

[0083] Furthermore, at block 312, the optical tracking system may calculate additional orientation data based on the relative orientation and the first additional relative orientation, the additional orientation data including a second additional relative orientation between the additional object and the object. For example, the optical tracking system may calculate the relative position between the object and the additional object based on the respective position coordinates of the object and the additional object included in the relative orientation and the first additional relative orientation. The optical tracking system may also calculate the relative orientation between the object and the additional object based on the orientation coordinates of the object and the additional object included in the relative orientation and the first additional relative orientation.

[0084] At block 314, the optical tracking system may transmit additional position data to the additional object and / or objects. In one embodiment, the optical tracking system may transmit the additional position data to the optical sensor via a wired and / or wireless communication link (e.g., cable 46) or wirelessly (e.g., using radio or optical signals). In response, the optical sensor may transmit the additional position data to the additional object using an optical transmitter (e.g., optical transmitter 44A or transmitter 24A) via an optical signal (e.g., an infrared or visible light signal). The additional object may receive the optical signal using an additional optical receiver. The optical signal containing the additional position data may enable the additional object to know the location of the additional object relative to the optical sensor. In one embodiment, the processor may be a component of another device coupled to or integrated into the additional object. The processor may transmit the additional position data directly to the additional object.

[0085] The optical tracking system can enable or improve certain coordinated events (e.g., theme park events that include an object and an additional object) based on the positional data and the additional positional data, thereby resulting in an enhanced experience within the coordinated event within the area. For example, the object can be worn by a customer (e.g., customer 210), and the additional object can be worn by another customer (e.g., customer 220) who may be attending the coordinated event (e.g., a ride event using ride vehicle 256). In some embodiments, the additional object can be a ride vehicle that carries the object through the area.

[0086] In one embodiment, the optical tracking system can utilize the position data and the additional position data to enable the subject and the additional objects to be aware of their relative positions in real time. In this way, the subject and the additional objects can perform or participate in an event with improved coordination, resulting in an enhanced experience during the event. In one embodiment, the optical tracking system can generate a signal (e.g., including an alert, such as a text message and / or an audible sound) indicating a potential problem (e.g., a maintenance issue) based on the position data and the additional position data. The optical tracking system can transmit the signal to at least one device or system (e.g., a ride vehicle controller, the subject, and / or the additional object) via a wired and / or wireless communication link (e.g., cable 46) or wirelessly (e.g., using radio or optical signals). In this way, at least one device or system can be aware of the potential problem and take corresponding action to avoid the potential problem, resulting in an enhanced experience during the event.

[0087] It should be noted that embodiments of the optical tracking system described herein may include certain implementations of the optical tracking system.The optical tracking system may be implemented in different ways using different components and / or different functionality.

[0088] For example, in one embodiment, some sensors mounted on or coupled to certain tracked devices (e.g., HMDs) may include cameras or angle-sensing light sensors. This may allow tracking devices to limit the area they are "looking at" to only the area that a particular camera or angle-sensing light sensor is configured to observe. This may increase communication bandwidth as each camera or angle-sensing light sensor sends only relevant data to each tracked device.

[0089] In one embodiment, position data associated with the tracked object may be calculated directly on or within each optical sensor, thereby eliminating external processing devices (eg, controller 16) and increasing the flexibility of the optical tracking system.

[0090] In one embodiment, the position data may be transmitted to the object along with a unique identifier and / or along with a timestamp (e.g., via modulation or flashing of light). In this way, the object may receive position data intended for the object and / or be able to discard untimely data (e.g., timestamp indicating previous data).

[0091] In one embodiment, the 3D position and orientation (e.g., position and pose) of a tracked object may be calculated in a collaborative manner by multiple processors (e.g., processors built into optical sensors). The 3D position and pose may be sent to the tracked object, which may be used to enable certain enhanced actions, such as enabling a smart device (e.g., an HMD with AR, other digital visual elements, sound, haptics, or holographic technology) to provide an enhanced interactive 3D version of the real-world environment (including position and orientation). Such an interactive 3D version may further improve the use of the tracked object and the experience of customers in certain individual and / or coordinated events.

[0092] The systems and methods of the present disclosure provide a variety of tracking systems that can be used to track objects and provide position data. For example, such tracking systems may include 2D and 3D object tracking using data transmission via light, 2D and 3D object tracking via infrared (IR) reflection using retroreflective markers, 2D and 3D object tracking via IR light emitted from the tracked object, "inside-out" tracking solutions that can calculate the position of the tracked object without external devices, tracking objects in 2D and 3D space using lighthouse-like devices installed in the space that receive optical signals from the tracked object and send relative position data to the tracked object, motion capture for virtual cameras during visual effects shooting for film production, and the like.

[0093] Additionally, the systems and methods of the present disclosure provide combined techniques to create new solutions with improved object tracking capabilities. For example, the new solutions can utilize similar hardware requirements to certain existing motion capture systems. Thus, adding the additional functionality associated with the new solutions can be accomplished with relatively little effort, and the new solutions can operate in a similar manner to existing motion capture systems, but may have fewer issues (e.g., data transfer issues due to signal interference or network bandwidth).

[0094] Although only certain features of the embodiments presented have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is to be understood, therefore, that the appended claims are intended to cover all such modifications and changes that fall within the true spirit of the disclosure. Further, it should be understood that certain elements of the disclosed embodiments may be combined or interchanged with one another. It should be appreciated that Figure 1-6 Shown and / or referenced Figure 1-6 Any of the features described may be combined in any suitable manner. For example, the controller 16 may be included in Figure 1 Object 20 and / or Figure 2 20 (eg, coordinates 26 are determined at object 20 ).

[0095] The technology presented and claimed herein is cited and applied to specific examples and substantial objects that arguably improve the practical nature of this art, and is therefore not abstract, intangible, or purely theoretical. Further, if any claim appended to the end of this specification contains one or more elements designated as "means for [performing] ... [function]" or "steps for [performing] ... [function]," it is intended that such elements be interpreted under 35 U.S.C. § 112(f). However, for any claim containing elements designated in any other manner, it is intended that such elements not be interpreted under 35 U.S.C. § 112(f).

Claims

1. A system comprising: an optical sensor configured to detect an object in a region; as well as A controller configured to: receiving first data indicating a first position of the object from the optical sensor; receiving second data indicating a second position of the optical sensor; calculating position data based on the first position and the second position; as well as The position data is transmitted to the object via an optical signal.

2. The system of claim 1, wherein: The optical sensor is configured to detect light from the object.

3. The system of claim 2, wherein: The light includes infrared light reflected from the object.

4. The system of claim 3, wherein: The optical sensor includes a light emitter configured to emit illuminating infrared light that is reflected from the object as the infrared light.

5. The system of claim 4, wherein: The light emitter includes one or more infrared light emitting diodes (LEDs), one or more actively powered infrared illuminators, one or more flashing infrared light sources, one or more digital projectors or directional light sources, or any combination thereof.

6. The system of claim 4, wherein: The object includes one or more retroreflectors configured to reflect a portion of the illuminating infrared light to the optical sensor as the infrared light.

7. The system of claim 2, wherein: The light includes visible light reflected from the object.

8. The system of claim 2, wherein: The light includes infrared light emitted from a light emitter of the object.

9. The system of claim 1, wherein: The orientation data includes position data and orientation data of the object, wherein the position data includes a two-dimensional coordinate system or a three-dimensional coordinate system associated with the area, wherein the orientation data includes orientation coordinates, and the orientation coordinates include yaw angle, pitch angle and roll angle information of the object.

10. The system of claim 1, comprising one or more additional optical sensors configured to detect the object in the area, wherein The controller is configured to receive additional data indicative of the first position of the object from the one or more additional optical sensors.

11. The system of claim 1, wherein: The controller is configured to transmit the position data to an additional object via an additional optical signal.

12. The system of claim 1, comprising the object, wherein: The object includes a head-mounted display configured to display an image based on the position data.

13. The system of claim 1, wherein: The controller is integrated with the optical sensor or the object.

14. An optical tracking system comprising: an optical sensor configured to detect a first object and a second object in a region; as well as A controller configured to: receiving first data indicating a first position of the first object from the optical sensor; receiving second data indicating a second position of the second object from the optical sensor; receiving third data indicative of an additional position of the optical sensor; calculating first position data for the first object based on the first position data and the additional position; calculating second position data for the second object based on the second position and the additional position; instructing a light transmitter to transmit the first position data to the first object via a first optical signal; as well as The light transmitter is instructed to transmit the second position data to the second object via a second optical signal.

15. The optical tracking system of claim 14, wherein: The first object and the second object include autonomous or remotely controlled flying objects moving within the area.

16. The optical tracking system of claim 14, wherein: The first object and the second object include respective object light emitters configured to emit light detectable by the optical sensor, or respective retroreflectors configured to reflect a portion of the illumination light to generate reflected light detectable by the optical sensor.

17. A method comprising: receiving, at the one or more processors, position data from an optical sensor configured to detect light from an object in the area; calculating, via the one or more processors, position data indicating a relative position between the object and the area based on the position data; as well as The position data is sent to the object via an optical transmitter.

18. The method of claim 17, comprising: receiving, at the one or more processors, additional position data from the optical sensor, the optical sensor configured to detect additional light from additional objects; calculating, via the one or more processors, additional position data indicating a first additional relative position between the additional object and the area based on the additional position data; as well as The additional position data is sent to the additional object and the object via the optical transmitter.

19. The method of claim 17, comprising: An image is projected via one or more displays associated with the object based on the position data.

20. The method of claim 17, comprising: Based on the position data, one or more effects are output via an output device of the object.

Images