Force Guidance Direction Mapping Across Camera and Device Orientation
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Solution Overview
Problem
Existing systems face difficulties in accurately determining the relative orientation of a force sense presentation device with respect to a camera orientation, making it challenging to effectively guide a guided person using force sense presentation devices.
Innovation Solution
The system calculates a relative orientation using geomagnetic sensors attached to both the camera and the force sense presentation device, combining this with gravity sensors to provide accurate guidance in two- and three-dimensional spaces, and adjusts the force sense presentation based on these orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a guide instructs direction using a camera video while the guided person holds a force sense presentation device, then the guided person can receive directional guidance, but the camera orientation and device orientation may not coincide making it difficult to determine the correct instructed direction
Solution Approach 1:
The system continuously receives orientation information from both the camera and the force sense presentation device, calculates the relative orientation in real-time, and uses this feedback to dynamically adjust the instructed direction. This closed-loop feedback mechanism ensures that the direction instruction remains accurate even as the relative orientations of the camera and device change during use.
Solution Approach 2:
The system introduces an intermediary calculation process that transforms the instructed direction from the camera coordinate system to the force sense presentation device coordinate system. This intermediary transformation uses the relative orientation information as a mediator to bridge the two different coordinate systems, enabling accurate direction transfer without requiring direct alignment between the camera and device.
2Measurement precision
If the system calculates relative orientation using sensors, then accurate direction presentation is achieved, but the calculation and coordinate transformation process becomes more complex
Solution Approach 1:
The system uses a unified coordinate transformation framework that can handle multiple sensor types (geomagnetic sensors and gravity sensors) and multiple device orientations (two-dimensional and three-dimensional cases) through a single generalizable mathematical model. This universal approach simplifies the overall system architecture despite the complexity of individual transformation calculations.
Solution Approach 2:
The system dynamically adjusts the calculation parameters based on the available sensor data and the specific orientation scenario. When gravity sensor data is available, the system switches to a three-dimensional transformation model; when only geomagnetic sensor data is available, it uses a two-dimensional model. This parameter adaptation reduces unnecessary computational complexity while maintaining measurement accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for precise guidance of a guided person by considering the relative orientation of the force sense presentation device with respect to the camera, ensuring accurate direction presentation regardless of the device's orientation.
Implementation Method 1
calculates a relative orientation using geomagnetic sensors attached to both the camera and the force sense presentation device
Implementation Method 2
combining this with gravity sensors to provide accurate guidance in two- and three-dimensional spaces
Data Source
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AI summary
To provide a technique for presenting a guided person with a direction in consideration of a relative orientation of a force sense presentation device with respect to an orientation of a camera. A direction presentation apparatus includes an instructed direction calculating unit which calculates, using a first angle in an external coordinate system representing an orientation of a camera that takes an image in front of a guided person and a second angle in the external coordinate system representing an orientation of a force sense presentation device that presents the guided person with a predetermined direction, an instructed force sense vector (hereinafter, referred to as a second instructed force sense vector) in a force sense presentation device coordinate system representing a direction to be instructed to the force sense presentation device from an instructed force sense vector (hereinafter, referred to as a first instructed force sense vector) in a camera coordinate system representing the direction to be instructed to the force sense presentation device.