ToF Tag Rotation Parameter Determination via Light Intensity
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Solution Overview
Problem
Conventional localization methods for six-Degrees-of-Freedom (6DoF) localization of electronic devices using Time-of-Flight (ToF) cameras struggle to determine rotation parameters accurately without relying on large objects or multiple markers, limiting their ability to correctly render three-dimensional objects in augmented reality applications.
Innovation Solution
A method and apparatus that determine rotation parameters by measuring light intensities of at least three light sources on a tag using a ToF camera system, calculating direction vectors in both coordinate systems, and using auxiliary points to establish the relative orientation between the tag and the ToF camera system, enabling precise conversion between coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional localization approaches use multiple markers and large objects to determine rotation parameters, then measurement precision is improved, but device complexity and setup requirements increase
Solution Approach 1:
The patent extracts the essential information needed for rotation parameter determination from the light intensity measurements of the three light sources, eliminating the need for additional markers and large objects. By analyzing the intensity patterns of the three light sources alone, the system can compute direction vectors and rotation parameters without requiring extra reference elements in the environment.
Solution Approach 2:
The three light sources serve multiple functions: they provide both depth information through ToF measurements and orientation information through intensity ratio analysis. This multi-functionality allows the system to determine both position and rotation parameters using a single compact tag structure, replacing the need for separate markers and large reference objects.
2Measurement precision
If conventional methods require multiple markers for localization, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent removes the complexity of multiple marker setup by extracting all necessary localization and orientation information from the intensity measurements of three light sources. The system automatically computes direction vectors and rotation parameters from the intensity ratios, eliminating manual marker placement and setup operations.
Solution Approach 2:
The tag with three light sources performs self-localization and self-orientation by emitting light that the ToF camera analyzes to determine both position and rotation parameters. The system uses its own light emission characteristics to provide localization services without requiring external markers or complex setup procedures.
3Measurement precision
If conventional localization approaches use large objects and multiple markers, then measurement precision is improved, but adaptability deteriorates
Solution Approach 1:
The three light sources are designed to serve multiple purposes: depth measurement through ToF, orientation determination through intensity ratio analysis, and potential identification through pattern recognition. This multi-functionality enables the same compact tag structure to work across various application scenarios without requiring large objects or multiple specialized markers.
Solution Approach 2:
The patent changes the approach from using physical size and number of markers to using light intensity parameter ratios for determining orientation. By analyzing the ratios of light intensities from the three light sources, the system can determine rotation parameters with high precision using a compact tag, making it adaptable to different application scenarios.
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 improved determination of rotation parameters, enabling accurate 6DoF localization and rendering of three-dimensional objects in augmented reality applications without the need for large objects or multiple markers, enhancing the precision and flexibility of ToF camera systems.
Implementation Method 1
determining, based on individual measurements by the ToF camera system of light intensities of at least three light sources of the tag, a first direction vector
Implementation Method 2
a tag for ToF applications... one or more TOF depth measurements of the tag
Data Source
AI summary
A tag for time-of-flight (ToF) applications includes: at least three light sources configured to controllably emit light; a light detector configured to receive one or more modulated light signals from a ToF camera system; and a processing circuit configured to determine one or more time periods in which the ToF camera system is sensitive for light reception and control the at least three light sources to sequentially and individually emit light according to a predefined lighting pattern during the one or more time periods. Corresponding apparatuses and methods for determining rotation and/or translation parameters for conversion between different coordinate systems are also provided.