Abstract: A reduced homography H for an optical apparatus to recover pose parameters from imaged space points Pi using an optical sensor. The electromagnetic radiation from the space points Pi is recorded on the optical sensor at measured image coordinates. A structural uncertainty introduced in the measured image points is determined and a reduced representation of the measured image points is selected based on the type of structural uncertainty. The reduced representation includes rays {circumflex over (r)}i defined in homogeneous coordinates and contained in a projective plane of the optical apparatus. At least one pose parameter of the optical apparatus is then estimated by applying the reduced homography H and by applying a condition on the motion of the optical apparatus, the condition being consonant with the reduced representation employed in the reduced homography H.

Abstract: A reduced homography H for an optical apparatus to recover pose parameters from imaged space points Pi using an optical sensor. The electromagnetic radiation from the space points Pi is recorded on the optical sensor at measured image coordinates. A structural uncertainty introduced in the measured image points is determined and a reduced representation of the measured image points is selected based on the type of structural uncertainty. The reduced representation includes rays {circumflex over (r)}i defined in homogeneous coordinates and contained in a projective plane of the optical apparatus. At least one pose parameter of the optical apparatus is then estimated by applying the reduced homography H and by applying a condition on the motion of the optical apparatus, the condition being consonant with the reduced representation employed in the reduced homography H.

Abstract: A method of tracking a conditioned motion with an optical sensor that images a plurality of space points. The method includes a) recording electromagnetic radiation from the space points on the optical sensor at measured image coordinates of measured image points, b) determining a structural redundancy in the measured image points due to the conditioned motion, and c) employing a reduced representation of the measured image points by a plurality of rays defined in homogeneous coordinates and contained in a projective plane of the optical sensor consonant with the conditioned motion for the tracking.

Abstract: A wearable article, such as glasses for a virtual reality program or glasses for an augmented reality application, using light sources and a photodetector that detects their light and outputs data indicative of the detected light. The wearable article uses one or more controllers to determine its position and/or orientation in the environment based on the data output by the photodetector. Data from one or more auxiliary motion sensing devices, e.g., a relative motion sensor such as an inertial device or other auxiliary motion device relying on acoustics, optics or electromagnetic waves within or outside the visible spectrum, can be used to supplement the position and/or orientation data from the photodetector.

Abstract: A reduced homography H for an optical apparatus to recover pose parameters from imaged space points Pi using an optical sensor. The electromagnetic radiation from the space points Pi is recorded on the optical sensor at measured image coordinates. A structural uncertainty introduced in the measured image points is determined and a reduced representation of the measured image points is selected based on the type of structural uncertainty. The reduced representation includes rays {circumflex over (r)}i defined in homogeneous coordinates and contained in a projective plane of the optical apparatus. At least one pose parameter of the optical apparatus is then estimated by applying the reduced homography H and by applying a condition on the motion of the optical apparatus, the condition being consonant with the reduced representation employed in the reduced homography H.

Abstract: The present invention concerns methods and apparatus for determining when it is appropriate to apply a quantum representation to contextualizations of propositions about items as experienced by test subjects. The methods and apparatus also indicate when classical representations are appropriate and under what conditions views of the observed effects or measurable indications are to be modified. Renormalization-related ordering of test subjects along a real scale parameter W and their confinement to a range ?W of scale values Wi within which the quantum representation can be presumed to be within a range of validity are introduced. The ordering and other renormalization-inspired concepts are used to define important parameters of the representations including first and second-order phase transitions to enhance the application of quantum or classical representations and/or views to be presented to an observer.

Abstract: A system with a remote control or wand equipped with a relative motion sensor that outputs data indicative of a change in position. The system has one or more light sources and a photodetector that detects their light and outputs data indicative of the detected light. One or more controllers are used to determine the absolute position of the wand based on the data output by the relative motion sensor and by the photodetector. The wand's absolute pose is determined from the data and includes the absolute position of a reference point on the wand and the wand's absolute orientation. A display is used to show an image defined by two orthogonal axes, e.g., those of world coordinates (Xo,Yo,Zo). The display is rendered as a function of absolute position of the wand in or along a third orthogonal axis.

Abstract: Methods, apparatus and systems, including computer program products, implementing and using techniques for providing a scalable and elastic two-level overlay computer network. A host network is provided. The host network includes a system of interconnected computers and can to support one or more transport layer protocols. A first overlay network is generated on top of the host network. The first overlay network includes one or more first-level nodal entities. At least some of the first-level nodal entities operate as factories for generating second-level nodal entities in a second overlay network. In response to receiving an instruction, one or more factories dynamically generate the second overlay network. The second overlay network includes several networked second-level nodal entities that can support data processing and data communication between the second-level nodal entities.

Abstract: A system that has a remote control, e.g., a wand, equipped with a relative motion sensor that outputs data indicative of a change in position of the wand. The system also has one or more light sources and a photodetector that detects their light and outputs data indicative of the detected light. The system uses one or more controllers to determine the absolute position of the wand based on the data output by the relative motion sensor and by the photodetector. The data enables determination of the absolute pose of the wand, which includes the absolute position of a reference point chosen on the wand and the absolute orientation of the wand. To properly express the absolute parameters of position and/or orientation of the wand a reference location is chosen with respect to which the calculations are performed. The system is coupled to a display that shows an image defined by a first and second orthogonal axes such as two axes belonging to world coordinates (Xo,Yo,Zo).

Abstract: An apparatus and method for processing pose data derived from a pose of an elongate object such as, for example, a jotting implement, a pointer, a robotic arm or a cane. The elongate object has a tip contacting a plane surface with one or more invariant features. The pose of the elongate object is measured optically from on-board by an optical measuring system with the aid of the invariant feature. The pose is used for preparing a corresponding pose data and a subset of the pose data is identified and transmitted to an application such as a user application, where the subset can serve as command data or input data. Since the elongate object moves while its tip is contacting the surface the pose is measured periodically at sufficiently frequent measurement times ti to describe the motion at a desired temporal resolution. The subset can include all or a portion of the orientation data that describe the orientation of the elongate object in space and/or position data of the tip on the surface.

Abstract: Systems and methods are presented that enable a higher-level software application to query and control a sensor through a generic interface. In one embodiment, a system includes a controller, and interface, and a set of sensor driver modules. The interface receives a command from the controller and sends it to the driver modules. The interface includes a client, a server, and a network. The server includes two interfaces: a client interface to communicate with the client and a driver interface to communicate with the driver modules. The server also includes two buffers: a command queue and a reply queue. The command queue stores commands received from the controller (via the client). The reply queue stores replies received from the driver modules.

Abstract: Methods and apparatus, including computer program products, implementing and using techniques for organizing a communication session between two or more media aware network entities in a computer network. A computer network includes several media aware network entities (MANEs). The MANEs include data writers and data readers. A model for communication between the MANEs is provided. The communication model includes: subsets of planes associated with a session between two or more MANEs in a domain, each plane representing a collection of MANEs partaking on a subset of topics within the domain; a complementary subset of planes common to all participating MANEs of a domain, an aggregation of domains and topics, and methods for addressing namespaces within the topics. Data streams are exchanged in a session between two MANEs in the computer network according to the communication model. Techniques for distributing a data stream in a computer network are also described.

Abstract: Methods, apparatus and systems, including computer program products, implementing and using techniques for providing a scalable and elastic two-level overlay computer network. A host network is provided. The host network includes a system of interconnected computers and can to support one or more transport layer protocols. A first overlay network is generated on top of the host network. The first overlay network includes one or more first-level nodal entities. At least some of the first-level nodal entities operate as factories for generating second-level nodal entities in a second overlay network. In response to receiving an instruction, one or more factories dynamically generate the second overlay network. The second overlay network includes several networked second-level nodal entities that can support data processing and data communication between the second-level nodal entities.

Abstract: The present invention relates to interfaces and methods for producing input for software applications based on the absolute pose of an item manipulated or worn by a user in a three-dimensional environment. Absolute pose in the sense of the present invention means both the position and the orientation of the item as described in a stable frame defined in that three-dimensional environment. The invention describes how to recover the absolute pose with optical hardware and methods, and how to map at least one of the recovered absolute pose parameters to the three translational and three rotational degrees of freedom available to the item to generate useful input. The applications that can most benefit from the interfaces and methods of the invention involve 3D virtual spaces including augmented reality and mixed reality environments.

Abstract: Systems and methods are presented that enable a higher-level software application to control a robot's motion through a generic motion interface. In one embodiment, a system includes a controller, an interface, and a set of robot driver modules. The interface receives a command from the controller and translates the command into another command to send to the driver modules. The interface includes a client, a server, and a network. The server includes two interfaces: a client interface to communicate with the client and a driver interface to communicate with the driver modules. The server also includes two buffers: a command queue and a reply queue. The command queue stores commands received from the controller (via the client). The reply queue stores replies received from the driver modules.

Abstract: A system that has a remote control, e.g., a wand, equipped with a relative motion sensor that outputs data indicative of a change in position of the wand. The system also has one or more light sources and a photodetector that detects their light and outputs data indicative of the detected light. The system uses one or more controllers to determine the absolute position of the wand based on the data output by the relative motion sensor and by the photodetector. The data enables determination of the absolute pose of the wand, which includes the absolute position of a reference point chosen on the wand and the absolute orientation of the wand. To properly express the absolute parameters of position and/or orientation of the wand a reference location is chosen with respect to which the calculations are performed. The system is coupled to a display that shows an image defined by a first and second orthogonal axes such as two axes belonging to world coordinates (Xo,Yo,Zo).

Abstract: A system that has a remote control, e.g., a wand, equipped with a relative motion sensor that outputs data indicative of a change in position of the wand. The system also has one or more light sources and a photodetector that detects their light and outputs data indicative of the detected light. The system uses one or more controllers to determine the absolute position of the wand based on the data output by the relative motion sensor and by the photodetector. The data enables determination of the absolute pose of the wand, which includes the absolute position of a reference point chosen on the wand and the absolute orientation of the wand. To properly express the absolute parameters of position and/or orientation of the wand a reference location is chosen with respect to which the calculations are performed. The system is coupled to a display that shows an image defined by a first and second orthogonal axes such as two axes belonging to world coordinates (Xo,Yo,Zo).

Abstract: A system is presented that enables applications in a distributed system to communicate through a channel-based communication system. The applications use adaptors which communicate through a communication mechanism, resulting in application independence from the communication mechanism. In one embodiment, the communication mechanism consists of transmission media, logical channels, and brokers. The adaptors communicate with each other over the transmission media. Groups of adaptors involved in a particular type of communication from a communication channel. Channel profiles, which include channel properties and a list of adaptor members, are stored in brokers which can be queried by adaptors. Adaptors can support channel-specific data processing operations specified in the channel profile. Adaptors can join a channel, leave a channel, and communicate with other adaptors over the channel.

Abstract: An apparatus and method for optically inferring an absolute pose of a manipulated object in a real three-dimensional environment from on-board the object with the aid of an on-board optical measuring arrangement. At least one invariant feature located in the environment is used by the arrangement for inferring the absolute pose. The inferred absolute pose is expressed with absolute pose data (?, ?, ?, x, y, z) that represents Euler rotated object coordinates expressed in world coordinates (Xo, Yo, Zo) with respect to a reference location, such as, for example, the world origin. Other conventions for expressing absolute pose data in three-dimensional space and representing all six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) are also supported. Irrespective of format, a processor prepares the absolute pose data and identifies a subset that may contain all or fewer than all absolute pose parameters.

Abstract: The present invention relates to an optical navigation system for determining a pose, which includes the position and orientation of an object in an environment. The optical navigation system uses a number of beacons affixed at known locations in the environment to provide electromagnetic radiation in a sequenced pattern. An on-board optic images the radiation from the beacons onto an on-board centroid sensing device to obtain an imaged distribution of the radiation on the on-board centroid sensing device. The centroid sensing device determines the centroid of the imaged distribution and provides centroid information to a navigation unit for determining the pose of the object from the centroid. The navigation system is particularly well-suited for navigating hand-held objects.