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1.发明授权公开(公告)号：US06173066B2
公开(公告)日：2001-01-09
申请号：US08861411
申请日：1997-05-21
IPC分类号： G06K900
CPC分类号： G06F17/3079 , G06F17/30805 , G06K9/6211
摘要： An improved method of pose determination and tracking does away with conventional segmentation while taking advantage of multi-degree-of-freedom numerical fitting or match filtering as opposed to a syntactic segment or feature oriented combinatorial match. The technique may be used to improve image database query based on object shape descriptors by allowing the user to request images from a database or video sequence which contain a key object described by a geometric description that the user designates or supplies. The approach is also applicable to target or object acquisition and tracking based on the matching of one or a set of object shape data structures.
摘要翻译： 一种改进的姿势确定和跟踪方法在利用多自由度数值拟合或匹配滤波方面取代了常规分割，而不是语法分段或特征取向组合匹配。 该技术可以用于通过允许用户从包含由用户指定或提供的几何描述描述的关键对象的数据库或视频序列请求图像来改进基于对象形状描述符的图像数据库查询。 该方法也适用于基于一个或一组对象形状数据结构的匹配的目标或对象获取和跟踪。
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公开(公告)号：US06374255B1
公开(公告)日：2002-04-16
申请号：US09640358
申请日：2000-08-16
IPC分类号： G06F1730
CPC分类号： G06F3/016 , G06F17/30861 , Y10S707/99942 , Y10S707/99943 , Y10S707/99945 , Y10S707/99948
摘要： Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.
摘要翻译： 提出了用于创作结合触摸或触觉反馈的几何数据库的方法。 特别地，几何元素的数据库包括支持诸如刚度，硬度，摩擦等的触觉相互作用所必需的属性。 用户可以实例化通过CAD / CAM环境设计的对象，或将触觉或触摸属性附加到子组件，如表面或实体子对象。 然后可以使用触觉浏览器或其他适当的用户界面来查看和触摸所得到的触觉/视觉数据库或世界描述模型。
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公开(公告)号：US5844392A
公开(公告)日：1998-12-01
申请号：US861080
申请日：1997-05-21
CPC分类号： G06F3/016 , B25J9/1689 , G05G9/04737 , G06F3/011 , A63B2071/0666 , G05B2219/35416 , G05B2219/37396 , G05G2009/04766 , G06F2203/012 , G06F2203/015
摘要： A method of browsing geometrical databases through touch or haptic feedback is disclosed which presents a tactile virtual reality to a user, facilitating the simultaneous browsing, or viewing, touching, attaching to, or manipulation of object descriptions contained within files both visually and haptically. The files may be local to a computer system or located across a network on one or more computer systems. In a preferred embodiment, the invention preferably renders haptic features using a layered architecture to support multiple axes per device, multiple devices per servo layer, multiple servo layers per communications layer, and multiple applications accessing common or different force-feedback devices.
摘要翻译： 公开了一种通过触摸或触觉反馈来浏览几何数据库的方法，其向用户呈现触觉的虚拟现实，便于同时浏览或观看，触摸，附加或操纵包含在文件中的对象描述。 这些文件可以是计算机系统本地的或者位于一个或多个计算机系统上的网络上。 在优选实施例中，本发明优选地使用分层架构来支持触觉特征以支持每个设备的多个轴，每个伺服层的多个设备，每个通信层的多个伺服层，以及访问公共或不同的力反馈设备的多个应用。
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公开(公告)号：US6131097A
公开(公告)日：2000-10-10
申请号：US859877
申请日：1997-05-21
CPC分类号： G06F3/016 , B25J9/1689 , G05G9/04737 , G06F3/011 , G05B2219/35416 , G05B2219/37396 , G05G2009/04766 , G06F2203/015 , Y10S707/99943 , Y10S707/99945
摘要： Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.
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公开(公告)号：US07765182B2
公开(公告)日：2010-07-27
申请号：US11699116
申请日：2007-01-29
申请人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa
发明人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa
CPC分类号： G06F3/016 , G06F17/30861 , Y10S707/99942 , Y10S707/99943 , Y10S707/99945 , Y10S707/99948
摘要： Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.
摘要翻译： 提出了用于创作结合触摸或触觉反馈的几何数据库的方法。 特别地，几何元素的数据库包括支持诸如刚度，硬度，摩擦等的触觉相互作用所必需的属性。 用户可以实例化通过CAD / CAM环境设计的对象，或将触觉或触摸属性附加到子组件，如表面或实体子对象。 然后可以使用触觉浏览器或其他适当的用户界面来查看和触摸所得到的触觉/视觉数据库或世界描述模型。
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公开(公告)号：US07191191B2
公开(公告)日：2007-03-13
申请号：US10122090
申请日：2002-04-12
申请人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa
发明人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa
IPC分类号： G06F17/30
CPC分类号： G06F3/016 , G06F17/30861 , Y10S707/99942 , Y10S707/99943 , Y10S707/99945 , Y10S707/99948
摘要： Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.
摘要翻译： 提出了用于创作结合触摸或触觉反馈的几何数据库的方法。 特别地，几何元素的数据库包括支持诸如刚度，硬度，摩擦等的触觉相互作用所必需的属性。 用户可以实例化通过CAD / CAM环境设计的对象，或将触觉或触摸属性附加到子组件，如表面或实体子对象。 然后可以使用触觉浏览器或其他适当的用户界面来查看和触摸所得到的触觉/视觉数据库或世界描述模型。
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公开(公告)号：US06433771B1
公开(公告)日：2002-08-13
申请号：US08859157
申请日：1997-05-20
申请人： Todd Yocum , Thomas M. Peurach
发明人： Todd Yocum , Thomas M. Peurach
IPC分类号： G09G500
CPC分类号： G06F3/016 , B25J9/1689 , G05B2219/35416 , G05B2219/37396 , G05G9/04737 , G05G2009/04766 , G06F3/011 , G06F2203/015
摘要： In a force-reflection system wherein a basic force pattern including a plurality of behavioral attributes is applied to a user-moveable member, apparatus and methods are disclosed for altering one or more of the behavioral attributes without changing the basic force pattern. The invention may be used to adjust attributes such as amplitude maximum and average, play-out rate, and play-out lead/lag in conjunction with any type of user-manipulable member, including a joystick, wheel, yoke, or non-contact arrangement. The invention may be implemented at a high or low level, and arrays of haptic controls or equivalent graphical user interface (GUI) elements may be used to define haptic force temporal sequences for replay.
摘要翻译： 在其中将包括多个行为属性的基本力图案应用于用户可移动构件的力反射系统中，公开了用于在不改变基本力模式的情况下改变一个或多个行为属性的装置和方法。 本发明可以用于调整属性，例如振幅最大值和平均值，播放速率以及播放引导/延迟，以及任何类型的用户可操纵构件，包括操纵杆，车轮，轭或非接触 安排。 本发明可以在高或低水平上实现，并且可以使用触觉控件或等效图形用户界面（GUI）元件阵列来定义用于重放的触觉力时间序列。
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