Abstract: A processing apparatus including one or more processors and memory determines a first context of a first user at a first location in a physical space based on sensor measurements from one or more sensors of a set of one or more devices coupled to the first user and detects movement of the first user to a second location in the physical space based on sensor measurements from one or more sensors of the devices. The processing apparatus determines a second context of the first user at the second location based on sensor measurements from one or more sensors of the devices and generates, based on the first context, the second context, and the movement of the user from the first location to the second location, a first mapping of the physical space that includes information corresponding to a spatial relationship between the first context and the second context.

Abstract: A system, computer readable storage medium and method for calibrating sensors of a human interface device having a first accelerometer and a second accelerometer. The method includes calibrating the first accelerometer, calibrating the second accelerometer, and calibrating a combined-sensor output that includes contributions from the first accelerometer and the second accelerometer to generate combined-sensor conversion values. The method further includes adjusting the calibration of the first accelerometer in accordance with the combined-sensor conversion values.

Abstract: A computer system stores calibration information corresponding to respective sets of sensor measurements associated with respective operating environments. After storing, in a first data structure, calibration information for a first operating environment, the system determines a current operating environment of the device. When the current operating environment of the device is consistent with the first operating environment and the calibration information for the first operating environment meets predefined measurement diversity criteria, the system calibrates at least one sensor for the first operating environment using the stored calibration information for the first operating environment. When the current operating environment of the device is inconsistent with the first operating environment, the system excludes the stored calibration information for the first operating environment when calibrating one or more sensors for the current operating environment.

Abstract: A processing apparatus, optionally integrated into a device having a plurality of sensors including a magnetometer, generates navigational state estimates for the device. The processing apparatus has a magnetometer-assisted mode of operation in which measurements from the magnetometer are used to estimate the navigational state and an alternate mode of operation in which the navigational state of the device is estimated without measurements from the magnetometer. For a respective time period, the processing apparatus operates in the alternate mode of operation. During the respective time period, the processing apparatus collects a plurality of magnetometer measurements and determines whether they meet measurement-consistency requirements. If the measurements meet the measurement-consistency requirements, the processing apparatus transitions to the magnetometer-assisted mode of operation.

Abstract: A processing apparatus determines an estimated direction of motion of an entity physically associated with a device having a plurality of sensors for generating an estimate of a navigational state of the device. The estimated direction of motion is based at least in part on a device-to-frame orientation corresponding to an orientation of the device relative to a predefined inertial frame of reference, and an estimated device-to-entity orientation corresponding to an orientation of the device relative to a direction of motion of the entity. In response to detecting a change in the device-to-frame orientation, the processing apparatus divides the change in the device-to-frame orientation between a change in the estimated direction of motion of the entity and a change in the estimated device-to-entity orientation, and updates the estimated direction of motion of the entity based on the division of the change in the device-to-frame orientation.

Abstract: A system, a non-transitory computer readable storage medium including instructions, and a method for adjusting a displayed user interface in accordance with a navigational state of a human interface device. For each measurement epoch, a base set of operations are performed, including: determining an unmodified user interface state in accordance with the navigational state, and generating current user interface data. Upon detecting an error introducing state, additional operations are performed, including: determining a modified user interface state; adjusting the current user interface data in accordance with the modified user interface state; and determining a user interface state error. Upon detecting an error compensating state, additional operations are performed, including: determining a compensation adjustment and adjusting the current user interface data and user interface state error in accordance with the compensation adjustment.

Abstract: An electronic device with one or more processors and memory detects a button press of a respective button of a plurality of buttons that include a first button that corresponds to a first type of operation and a second button that corresponds to a second type of operation. The device determines, in conjunction with detecting the button press, a rolling gesture metric corresponding to performance of a rolling gesture comprising rotation about a longitudinal axis of the electronic device. After determining the rolling gesture metric, when the respective button is the first button, the device initiates performance, in a respective user interface, of an operation of the first type in accordance with the rolling gesture metric and when the respective button is the second button, the device initiates performance, in the respective user interface, of an operation of the second type in accordance with the rolling gesture metric.

Abstract: A 3D mapping apparatus is provided that includes a light source, a projector, and a portable device. The projector is constructed to project a structured light pattern onto a target object. The projector includes an interface enabled to collects light from the light source, a grating that corresponds to the structured light pattern, and a lens interposed between the light source and the target object. The portable device includes an integrated camera for capturing light reflected from the target object and generating an image therefrom. Also included is a storage medium enabled to store the image. The camera and the lens of the projector are located at a predetermined distance from each other. Also provided are multicomponent items having a desired surface contour and method for producing such items.

Abstract: An electronic device with one or more processors and memory detects a button press of a respective button of a plurality of buttons that include a first button that corresponds to a first type of operation and a second button that corresponds to a second type of operation. The device determines, in conjunction with detecting the button press, a rolling gesture metric corresponding to performance of a rolling gesture comprising rotation about a longitudinal axis of the electronic device. After determining the rolling gesture metric, when the respective button is the first button, the device initiates performance, in a respective user interface, of an operation of the first type in accordance with the rolling gesture metric and when the respective button is the second button, the device initiates performance, in the respective user interface, of an operation of the second type in accordance with the rolling gesture metric.

Abstract: A system and a method for performing a rolling gesture using a multi-dimensional pointing device. An initiation of a gesture by a user of the multi-dimensional pointing device is detected. A rolling gesture metric corresponding to performance of a rolling gesture comprising rotation of the multi-dimensional pointing device about a longitudinal axis of the multi-dimensional pointing device is determined. Information corresponding the rolling gesture metric is conveyed to a client computer system, wherein the client computer system is configured to manipulate an object in a user interface of the client computer system in accordance with the rolling gesture metric.

Abstract: A processing apparatus having one or more processors and memory generates navigational state estimates for a device having a gyroscope. The processing apparatus has a gyroscope-assisted mode of operation in which measurements from the gyroscope are used to estimate the navigational states and an alternate mode of operation in which measurements from other sensors are used to estimate the navigational state of the device. For a first time period and a subsequent transition time period, the processing apparatus estimates the navigational state of the device without sensor measurements from the gyroscope. At an end of the transition time period, the processing apparatus starts to use measurements from the gyroscope to estimate the navigational state of the device. For a second time period, after the transition time period, the processing apparatus estimates the navigational state of the device using sensor measurements from the gyroscope.

Abstract: A processing apparatus, optionally integrated into a device having a plurality of sensors including a magnetometer, generates navigational state estimates for the device. The processing apparatus has a magnetometer-assisted mode of operation in which measurements from the magnetometer are used to estimate the navigational state and an alternate mode of operation in which the navigational state of the device is estimated without measurements from the magnetometer. For a respective time period, the processing apparatus operates in the alternate mode of operation. During the respective time period, the processing apparatus collects a plurality of magnetometer measurements and determines whether they meet measurement-consistency requirements. If the measurements meet the measurement-consistency requirements, the processing apparatus transitions to the magnetometer-assisted mode of operation.

Abstract: A system, a computer readable storage medium including instructions, and a method for determining an attitude of a device undergoing dynamic acceleration. A difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device is calculated. A Kalman gain is adjusted based on the difference, wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device. An attitude of the device is determined using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device.

Abstract: A system, computer readable storage medium and method for calibrating sensors of a human interface device having a first accelerometer and a second accelerometer and the method includes calibrating the first accelerometer, calibrating the second accelerometer and calibrating a combined-sensor output that includes contributions from the first accelerometer and the second accelerometer to generate combined-sensor conversion values. The method further includes adjusting the calibration of the first accelerometer in accordance with the combined-sensor conversion values.

Abstract: A computer system stores calibration information corresponding to respective sets of sensor measurements associated with respective operating environments. After storing, in a first data structure, calibration information for a first operating environment, the system determines a current operating environment of the device. When the current operating environment of the device is consistent with the first operating environment and that the calibration information for the first operating environment meets predefined measurement diversity criteria, the system calibrates at least one sensor for the first operating environment using the stored calibration information for the first operating environment. When the current operating environment of the device is inconsistent with the first operating environment, the system excludes the stored calibration information for the first operating environment when calibrating one or more sensors for the current operating environment.

Abstract: A system, a computer readable storage medium including instructions, and a method for adjusting a displayed user interface in accordance with a navigational state of a human interface device. For each measurement epoch, a base set of operations are performed, including: determining an unmodified user interface state in accordance with the navigational state, and generating current user interface data. When an error introducing state is detected, additional operations are performed, including: determining a modified user interface state; adjusting the current user interface data in accordance with the modified user interface state; and determining a user interface state error. When an error compensating state is detected, additional operations are performed, including: determining a compensation adjustment and adjusting the current user interface data and user interface state error in accordance with the compensation adjustment. The current user interface data enables a current user interface to be displayed.

Abstract: A system and a method for performing a rolling gesture using a multi-dimensional pointing device. An initiation of a gesture by a user of the multi-dimensional pointing device is detected. A rolling gesture metric corresponding to performance of a rolling gesture comprising rotation of the multi-dimensional pointing device about a longitudinal axis of the multi-dimensional pointing device is determined. Information corresponding the rolling gesture metric is conveyed to a client computer system, wherein the client computer system is configured to manipulate an object in a user interface of the client computer system in accordance with the rolling gesture metric.

Abstract: A system, a computer readable storage medium including instructions, and a method for determining an attitude of a device undergoing dynamic acceleration. A difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device is calculated. A Kalman gain is adjusted based on the difference, wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device. An attitude of the device is determined using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device.