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公开(公告)号：US11486958B2
公开(公告)日：2022-11-01
申请号：US16368543
申请日：2019-03-28
Applicant: PENUMBRA, INC.
Inventor： Oded Y. Zur , Alejandro Santiago Diaz , Michael D. Collins , Ran Bar-On , Ron Barak , Amir Rubin
IPC: G01S5/02 , G01S17/875 , G06N7/00 , G01S3/32
Abstract: A method and apparatus for reducing magnetic tracking error in the position and orientation determined in an electromagnetic tracking system is disclosed. In some embodiments, a corrected position and orientation is blended with an uncorrected position and orientation based upon the calculated probability of each. To determine a corrected position and orientation, data from an IMU in the receiver is used to obtain a constraint on the orientation. In other embodiments, the amount of detected error due to electromagnetic distortion is measured. Any error is first assumed to be from “floor distortion,” and a correction is applied. If the error is still deemed too great, a constraint is again obtained from IMU data. Using this constraint, another correction for the distortion is made. The solution from this correction may be blended with a standard solution and the solution from the floor distortion to arrive at a final solution.
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2.发明授权公开(公告)号：US12032735B2
公开(公告)日：2024-07-09
申请号：US17844416
申请日：2022-06-20
Applicant: Penumbra, Inc.
Inventor： Amir Rubin , Joel Breton , Ariel Z. Rubin , Scott C. Duensing , Alejandro S. Diaz , William Herrera , Christian Laursen , Andrew Yumul Huertas , Danilo Moura Silva
IPC: G06F3/01 , G06F3/14 , G06T19/00 , H04L65/1069 , H04L65/1089 , H04L65/1093 , H04L65/403 , H04N7/15
CPC classification number: G06F3/012 , G06F3/14 , G06T19/00 , H04L65/1069 , H04L65/1089 , H04L65/1093 , H04L65/403 , H04N7/152 , G06T2219/024
Abstract: Real-time two-way communication between a user immersed in a virtual reality (VR) environment and another party who is not in the VR environment. The sequence of video frames being presented to the VR user on, e.g., a head mounted display, i.e., the VR user's “field of view” in the VR environment, is shown to a guest user on their computing device. Simultaneously, video from a camera in a guest user computing device is shown to the VR user in a window in the VR environment. Audio is also exchanged in real time between the VR user and guest user by use of a microphone and loudspeaker in both the VR system and the guest user computing device. The VR user's system can also support both rotational and translational user movement thus properly changing the VR user's apparent distance from objects displayed in the VR environment.
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Patent Agency Ranking
3.发明申请公开(公告)号：US20220404907A1
公开(公告)日：2022-12-22
申请号：US17844426
申请日：2022-06-20
Applicant: Penumbra, Inc.
Inventor： Amir Rubin , Joel Breton , Ariel Z. Rubin , Scott C. Duensing , Alejandro S. Diaz , William Herrera , Christian Laursen , Andrew Yumul Huertas , Danilo Moura Silva
Abstract: Real-time two-way communication between a user immersed in a virtual reality (VR) environment and another party who is not in the VR environment. The sequence of video frames being presented to the VR user on, e.g., a head mounted display, i.e., the VR user's “field of view” in the VR environment, is shown to a guest user on their computing device. Simultaneously, video from a camera in a guest user computing device is shown to the VR user in a window in the VR environment. Audio is also exchanged in real time between the VR user and guest user by use of a microphone and loudspeaker in both the VR system and the guest user computing device. The VR user's system can also support both rotational and translational user movement thus properly changing the VR user's apparent distance from objects displayed in the VR environment.
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公开(公告)号：US11428546B2
公开(公告)日：2022-08-30
申请号：US16282782
申请日：2019-02-22
Applicant: PENUMBRA, INC.
Inventor： Igor Khalfin , Amir Rubin , Oded Y. Zur
Abstract: A method and apparatus is disclosed for allowing a magnetic tracking system to detect, and operate in close proximity in the same physical environment with, additional magnetic tracking systems. The first user's magnetic tracking system that becomes active in the physical space becomes the master system, and assigns time slots for its own transmitting antennas to generate the magnetic field which is used to determine the position and orientation of the user's limbs relative to the user's head. The master system also determines when other magnetic tracking systems become active in the physical space and assigns to those systems identification codes and time slots for their transmitting antennas to generate a magnetic field so that the position and orientation of the user's hands relative to the user's head for each of those systems may be determined. By requiring each magnetic tracking system to operate in different time slots, there is no interference between the systems.
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公开(公告)号：US20230083524A1
公开(公告)日：2023-03-16
申请号：US17834173
申请日：2022-06-07
Applicant: PENUMBRA, INC.
Inventor： Michael D. Collins , Alejandro S. Diaz , Oded Y. Zur , Cameron J. Mahon , Branislav Vasilijevic , Amir Rubin
IPC: G01B7/00 , G01R33/025
Abstract: A method and apparatus for reducing magnetic tracking error in the position and orientation determined in a magnetic tracking system having a magnetic field generator. In some embodiments, the measured position and orientation of a sensor is compared to an expected theoretical position and orientation. Any error is assumed to be from “floor distortion,” i.e., eddy currents in the floor caused by the magnetic field generated by the magnetic field transmitter. The floor distortion is modeled as being caused by eddy currents caused by a second magnetic field transmitter that is a reflection of the actual transmitter. An algorithm iteratively searches over a parameter space to minimize the difference between the measured position and orientation and the theoretical position and orientation, and applies a correction to the measured position and orientation. The measurements and corrections of the position and orientation run in real-time with no additional hardware or calibration required.
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6.发明申请公开(公告)号：US20220407902A1
公开(公告)日：2022-12-22
申请号：US17844416
申请日：2022-06-20
Applicant: Penumbra, Inc.
Inventor： Amir Rubin , Joel Breton , Ariel Z. Rubin , Scott C. Duensing , Alejandro S. Diaz , William Herrera , Christian Laursen , Andrew Yumul Huertas , Danilo Moura Silva
IPC: H04L65/403 , H04L65/1069 , H04L65/1089 , H04L65/1093 , H04L9/40
Abstract: Real-time two-way communication between a user immersed in a virtual reality (VR) environment and another party who is not in the VR environment. The sequence of video frames being presented to the VR user on, e.g., a head mounted display, i.e., the VR user's “field of view” in the VR environment, is shown to a guest user on their computing device. Simultaneously, video from a camera in a guest user computing device is shown to the VR user in a window in the VR environment. Audio is also exchanged in real time between the VR user and guest user by use of a microphone and loudspeaker in both the VR system and the guest user computing device. The VR user's system can also support both rotational and translational user movement thus properly changing the VR user's apparent distance from objects displayed in the VR environment.
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公开(公告)号：US11976921B2
公开(公告)日：2024-05-07
申请号：US17834173
申请日：2022-06-07
Applicant: PENUMBRA, INC.
Inventor： Michael D. Collins , Alejandro S. Diaz , Oded Y. Zur , Cameron J. Mahon , Branislav Vasilijevic , Amir Rubin
IPC: G01R33/025 , G01B7/00
CPC classification number: G01B7/003 , G01R33/025
Abstract: A method and apparatus for reducing magnetic tracking error in the position and orientation determined in a magnetic tracking system having a magnetic field generator. In some embodiments, the measured position and orientation of a sensor is compared to an expected theoretical position and orientation. Any error is assumed to be from “floor distortion,” i.e., eddy currents in the floor caused by the magnetic field generated by the magnetic field transmitter. The floor distortion is modeled as being caused by eddy currents caused by a second magnetic field transmitter that is a reflection of the actual transmitter. An algorithm iteratively searches over a parameter space to minimize the difference between the measured position and orientation and the theoretical position and orientation, and applies a correction to the measured position and orientation. The measurements and corrections of the position and orientation run in real-time with no additional hardware or calibration required.
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