United States Patent (19)
`Rallison et al.
`
`54) HEAD-MOUNTED PERSONAL VISUAL
`DISPLAY APPARATUS WITH IMAGE
`GENERATOR AND HOLDER
`
`75 Inventors: Richard Dennis Rallison, Paradise,
`Utah; C. Gregory Amadon, Seattle,
`Wash.; Wolfgang Adam Mack, Jr.,
`Seattle, Wash.; Leo Nikora, Bellevue,
`Wash.; Eric Tseo, Seattle, Wash.;
`Douglas Donaldson, Bothell, Wash.;
`Robert T. Etter, Bonney Lake, Wash.
`73 Assignee: i-O Display Systems LLC, Menlo
`Park, Calif.
`
`21 Appl. No.: 08/686,843
`22 Filed:
`Jul. 12, 1996
`Related U.S. Application Data
`63 Continuation of application No. PCT/US95/11344, Aug. 31,
`1995, which is a continuation-in-part of application No.
`08/416.919, Apr. 21, 1995, Pat. No. 5,903.395
`60
`Provisional application No. 60/001,151, Jul. 14, 1995.
`Int. Cl. .............................. G02B 27/14; G09G 5/00
`51
`52 U.S. Cl. ................................................. 359/630; 345/8
`58 Field of Search ..................................... 359/630, 631,
`359/633; 345/7, 8; 351/114, 115
`References Cited
`U.S. PATENT DOCUMENTS
`
`56)
`
`D. 300,476 3/1989 Sestak ...................................... D29/18
`D. 301,644 6/1989 Sestak ...................................... D29/18
`D. 334,557 4/1993 Hunter et al. .
`... D14/114
`D. 334,742 4/1993 Hunter et al. .......................... D14/113
`D. 337,320 7/1993 Hunter et al. .......................... D14/113
`(List continued on next page.)
`FOREIGN PATENT DOCUMENTS
`0 059 770 9/1982 European Pat. Off. ........ GO1R 33/04
`O 460983 A1 5/1991 European Pat. Off. ........ GO2B 27/OO
`O 453 347 10/1991 European Pat. Off. ......... GO1V 3/08
`(List continued on next page.)
`
`
`
`USOO599.1085A
`Patent Number:
`11
`(45) Date of Patent:
`
`5,991,085
`Nov. 23, 1999
`
`OTHER PUBLICATIONS
`Aley et al., “A Sourceless Orientation Sensor”, Sensors,
`Nov. 1993, p. 55.
`Analog Devices, Inc., “Analog Devices”, Specifications,
`1995, pp. 1, 3, 5, 7, 9, 11, 13, 15, 17, 19.
`(List continued on next page.)
`Primary Examiner-Georgia Epps
`Assistant Examiner Ricky Mack
`Attorney, Agent, or Firm-Sheridan Ross P.C.
`57
`ABSTRACT
`A Visual display device is provided for delivering a gener
`ated image, preferably combinable with environment light,
`to the eye of a user. The device is lightweight and compact
`but yields a high quality image. In one embodiment, a
`Shroud protects from Stray light and holds optical elements
`in desired alignment. In one embodiment an image generator
`is masked by at least two masks to provide for a high quality
`image without waste. In one embodiment, a removably
`mounted Shield or activatable device and convert the appa
`ratus from a See-through device to an immersion device and
`back again. In one embodiment, the device can be comfort
`ably mounted to the user's head while still allowing for use
`of conventional eyeglasses. A tracker for outputting an
`indication of the orientation, attitude and/or position of a
`head-mounted display (HMD) may be provided. The tracker
`can be configured so that it is incorporated in the HMD
`housing and/or can be easily decoupled from the HMD, so
`that the HMD can be used without the tracker (e.g. for
`watching movies). Preferably, decoupling involves unplug
`ging a single electrical connector (Such as a cable) and
`unfastening a mechanical connection (Such as a strap).
`Preferably the tracker provides pass-through of Signal to the
`HMD and, when the tracker is coupled to the HMD, only a
`single cable or other data link connects the HMD-tracker
`combination to the host computer. In one embodiment, the
`tracker uses magnetic Sensors. In another embodiment, one
`or more inertial Sensors, Such as a rate gyro and/or accel
`erometers are used.
`
`22 Claims, 32 Drawing Sheets
`
`META 1023
`META V. THALES
`
`

`

`5,991,085
`Page 2
`
`U.S. PATENT DOCUMENTS
`
`4,561,723 12/1985 Hamano et al. .................... 350/331 R
`4,571,628 2/1986 Thornton ................................. 358/224
`
`D. 338,514 8/1993 Holmes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D21/240
`
`4,590,680 5/1986 Hanchett et al. - - - - - - - - - - - - - - - - - - - - - - - - - 33/366
`
`2,411,933 12/1946 Morley et al. ................................ 2/14
`2,581,428
`1/1952 McCarthy ..
`33/224
`2,581,436
`1/1952 McCarthy ..
`318/24
`2,585,956 2/1952 McCarthy .
`33/224
`
`2,955,156 10/1960 Heilig - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 178/6.5
`
`2,958.258 11/1960 Kelly ........................................... 88/24
`3,043,910 7/1962 Hicks ...
`178/7.85
`3.212,102 10/1965 Miller .
`... 2/12
`3,232,561 2/1966 Adams ....
`... 244/1
`3,355,942 12/1967 Freeman .................................... 73/178
`3,405,355 10/1968 Hebbert ..................................... 324/46
`3,434,219 3/1969 Bowman .
`33/205
`3,487.299 12/1969 Hart et al. ................................. 324/43
`3,573,610 4/1971 Kesselring ................................ 324/43
`3,584,388
`6/1971 Petrov et al. ..
`... 33/225
`3,589,795
`6/1971 Miyazaki et al...................... 350/96 B
`3,614,314 10/1971 Rossire ................................... 178/7.88
`3,621,584 11/1971 Burt
`33/224
`3,629,870 12/1971 Paisley .......................................... 2/15
`3,737,212 6/1973 Antonson et al. ...................... 350/174
`3,825,911
`7/1974 Burns .............
`... 340/198
`3,833,901 9/1974 Fowler ................................ 340/347 P
`3,874,783 4/1975 Cole ...................................... 350/96 B
`3,888,016
`6/1975 Fowler .......
`... 33/346
`3,905,121 9/1975 Takeda et al. ............................ 33/361
`3,915,548 10/1975 Opittek et al. ........................... 350/3.5
`3,923,370 12/1975 Mostrom ........
`... 350/55
`3,940,204 2/1976 Withrington ............................. 350/3.5
`3,983,474 9/1976 Kuipers ................................. 324/43 R
`4,017,858 4/1977 Kuipers ......
`343/100 R
`4,021,862 5/1977 Glasser et al. .............................. 2/431
`4,026,641 5/1977 Bosserman et al. .................... 350/298
`4,028,725
`6/1977 Lewis .............
`... 358/103
`4,042,957 8/1977 Ellis ........................................ 358/109
`4,048,653 9/1977 Spooner .................................. 358/104
`4,060,910 12/1977 Gell, Jr. ..
`... 33/324
`4,095,348 6/1978 Kramer ................................. 33/363 K
`4,103,435 8/1978 Herndon .................................. 35/12 N
`4,104,803 8/1978 Hoeppel .....
`... 33/352
`4,139.951
`2/1979 Cunard et al. .
`33/362
`4,146,970 4/1979 Edwards .....
`33/363 K
`4,157,619 6/1979 Zuvela ...
`... 33/352
`4,179,741 12/1979 Rossani ...
`... 364/457
`4,257,062 3/1981 Meredith ...
`... 358/81
`4,269,476
`5/1981 Gauthier et al.
`... 350/174
`4,303.394 12/1981 Berke et al. ...
`... 434/40
`4,310,849
`1/1982 Glass ..........
`... 358/88
`4,322,135 3/1982 Freeman .....
`... 350/410
`4,341,023
`7/1982 Marcus et al. .
`... 33/363 K
`4,347,507 8/1982 Spooner .........
`... 340/705
`4,348,185 9/1982 Breglia et al.
`... 434/43
`4,361,384 11/1982 Bosserman ....
`... 350/174
`4.385,803 5/1983 Ellis ...........
`... 350/174
`4,395,731
`7/1983 Schoolman.
`... 358/88
`4,398,799 8/1983 Swift .......
`... 350/174
`4,435,760 3/1984 Kuno et al
`... 364/444
`4,437,113 3/1984 Lee et al. ...
`... 358/93
`4,439,157 3/1984 Breglia et al. .
`... 434/40
`4,446,480 5/1984 Breglia et al. .
`... 358/104
`4,465,347 8/1984 Task et al. ..
`... 350/538
`4,468,101
`8/1984 Ellis ...
`... 350/538
`4,484,191 11/1984 Vavra ......
`... 340/965
`4,497,034
`1/1985 Kuno et al. ...
`... 364/571
`4,521,777 6/1985 Nakamura et al.
`... 340/995
`4,539,760 9/1985 Marchent et al.
`33/356
`4,546,550 10/1985 Marchent et al.
`33/356
`4,546,551 10/1985 Franks .....
`... 33/356
`4.550,984 11/1985 Reymond ...
`... 350/404
`4,559,555 12/1985 Schoolman ................................ 358/88
`
`... 33/313
`9/1986 Darton et al. ...
`4,614,041
`4,621,283 11/1986 Feinbloom ................................ 358/93
`4,622,644 11/1986 Hansen .................................... 364/559
`4,622,843 11/1986 Hormel ..................................... 73/1 E
`
`4,630,321 12/1986 Sagemuehl et al. ........................ 2/426
`
`358/255
`4,633,324 12/1986 Giulie..........
`4,636,866
`1/1987 Hattori .................................... 358/236
`4,641,931 2/1987 Loy ......................................... 350/538
`4,642,786 2/1987 Hansen .....
`364/559
`4,651,201 3/1987 Schoolman ................................ 358/98
`4,652,870 3/1987 Steward .................................. 340/705
`4,667,414 5/1987 Russell .....
`... 33/364
`4,680,866 7/1987 Johnson et al. ........................... 33/356
`4,682,159 7/1987 Davison .................................. 340/709
`4,694,583 9/1987 Blaney ...
`... 33/361
`4,695,129 9/1987 Faessen et al. ...................... 350/96.25
`4,703,522 11/1987 Schirle et al. .............................. 2/432
`4,706,117 11/1987 Schoolman.
`... 358/88
`4,711,512 12/1987 Upatnieks ................................ 350/3.7
`4,720,992 1/1988 Hormel ..................................... 73/1 E
`4,722,601
`2/1988 McFarlane
`356/152
`4,726,075 2/1988 Hinrichs ........................................ 2/13
`4.737,972 4/1988 Schoolman ................................ 378/41
`4,743,200 5/1988 Welch et al.
`... 434/43
`4,751,746 6/1988 Rustin ........................................... 2/13
`4,753,514 6/1988 Kubik ...................................... 350/174
`4,757,714 7/1988 Purdy et al.
`... 73/597
`4,761,056 8/1988 Evans et al. ............................ 350/174
`4,763,990 8/1988 Wood ...................................... 350/320
`4,775,217 10/1988 Ellis et al.
`... 350/538
`4,784,468 11/1988 Tierney ............................... 350/276 R
`4,785,481 11/1988 Palmer et al. .............................. 2/436
`4,786,966 11/1988 Hanson et al.
`. 358/108
`4,791,729 12/1988 Suda .......................................... 33/356
`4,792,761 12/1988 King et al. .............................. 324/350
`4,796,987
`1/1989 Linden ........
`351/158
`4,797,736
`1/1989 Kloots et al. ............................. 358/93
`4,799,765
`1/1989 Ferrer ...................................... 350/174
`4,805,988 2/1989 Dones ..
`350/137
`4,806,011
`2/1989 Bettinger .
`351/158
`4,807.202 2/1989 Cherri et al.
`367/129
`4,807,462 2/1989 Al-Attar .........
`... 73/1 E
`4,817,633 4/1989 McStravick et al.
`128/782
`4,826,287 5/1989 Cook et al. ........
`... 350/174
`4,839,809 6/1989 Leighton et al.
`364/413.02
`4,849,696 7/1989 Brun et al. ......
`... 324/252
`4,851,775
`7/1989 Kim et al.
`324/247
`4.853,764 8/1989 Sutter .......................................... 358/3
`4,859,030 8/1989 Rotier ...
`350/174
`4,859,031
`8/1989 Berman et al.
`... 350/174
`4,863.242 9/1989 Correa ......
`350/276 R
`4,864,190 9/1989 Orr .......................................... 313/478
`4,865,420 9/1989 Schmidt
`350/276 R
`4,867,551
`9/1989 Perera ......
`351/158
`4,868,930 9/1989 Blackstone .................................. 2/439
`4,869,575 9/1989 Kubik..........
`350/174
`4,874,214 10/1989 Cheyason et al.
`... 350/3.7
`4,874.235 10/1989 Webster ......
`351/201
`4,884,137 11/1989 Hanson et al.
`. 358/108
`4,884,219 11/1989 Waldren ...
`. 364/514
`4,897,715
`1/1990 Beamon ...
`... 358/93
`4,900,133 2/1990 Berman
`350/346
`4.902,083
`2/1990 Wells ...
`... 350/6.6
`4,902,116 2/1990 Ellis .....
`350/501
`4.902,120 2/1990 Weyer ..................................... 351/158
`4,904,049 2/1990 Hegg ...........
`... 350/96.27
`4,930,888 6/1990 Freisleben et al.
`356/152
`4,932,731
`6/1990 Suzuki et al. ...
`350/3.7
`4,933,755
`6/1990 Dahl et al. ................................ 358/88
`
`
`
`META 1023
`META V. THALES
`
`

`

`5,991,085
`Page 3
`
`4,934,773 6/1990 Becker ..................................... 350/6.6
`4,945,305
`7/1990 Blood ................................. 324/207.17
`4,952,024 8/1990 Gale ........................................ 350/143
`4,953,305 9/1990 Van Lente et al.
`... 33/356
`4,961,625 10/1990 Wood et al. ............................ 350/174
`4,961,626 10/1990 Fournier et al. ........................ 350/174
`4.963,827 10/1990 Popovic et al. ......................... 324/251
`4,968,123 11/1990 Fournier et al. ........................ 350/538
`4,969,714 11/1990 Fournier et al.
`... 353/174
`4,969,724 11/1990 Ellis ........................................ 350/503
`4,970,589 11/1990 Hanson et al. .......................... 358/108
`4,972,146 11/1990 Eckardt et al.
`... 324/253
`4,972,593 11/1990 Dahlen et al. ............................ 33/356
`4,982.278
`1/1991 Dahl et al. ................................ 358/88
`4,983,014
`1/1991 Nattermann
`350/96.24
`4,984,179
`1/1991 Waldern .................................. 364/514
`4,988,981
`1/1991 Zimmerman et al. .................. 340/709
`4,993,790 2/1991 Vick ...............
`350/3.73
`4,995,165 2/1991 Daniels ..................................... 33/361
`5,003,300 3/1991 Wells ...................................... 340/705
`5,005,213
`4/1991 Hanson et al
`... 455/617
`5,015,072 5/1991. Howell ................................ 350/276 R
`5,019,828 5/1991 Schoolman .............................. 342/457
`5,034.809
`7/1991 Katoh .............
`... 358/88
`5,035,473
`7/1991 Kuwayama et al...................... 350/3.7
`5,039,198 8/1991 VanBeek ................................. 385/117
`5,046.260 9/1991 Wellhausen
`... 33/356
`5,046,827 9/1991 Frost et al. ................................ 359/54
`5,050,966 9/1991 Berman ..................................... 359/38
`5,053,755 10/1991 Smith et al. ...
`... 340/705
`5,059,958 10/1991 Jacobs et al. ........................... 340/706
`5,068,645 11/1991 Drumm ................................... 340/710
`5,069,529 12/1991 Takahashi
`... 359/601
`5,079,845
`1/1992 Childers ................................ 33/363 K
`5,081,542 1/1992 Efron et al. ............................... 359/41
`
`5,255,211 10/1993 Redmond ................................ 364/578
`5,267,708 12/1993 Monson et al
`244/122 AG
`5,274,405 12/1993 Webster .................................. 351/158
`5,274,501 12/1993 Stroll ....................................... 359/613
`5,276,471
`1/1994 Yamauchi et al.
`351/153
`5,278,680
`1/1994 Karasawa et al. .
`... 359/40
`5,281,957
`1/1994 Schoolman ..............................
`345/8
`5,282,318 2/1994 Steiner .....
`33/355 R
`5,287,119 2/1994 Drumm
`. 34.5/158
`5,293,271
`3/1994 Merritt et a
`359/858
`5,300,942 4/1994 Dolgoff
`... 345/32
`5,303,085 4/1994 Rallison
`359/631
`5,305,244 4/1994 Newman et a
`. 364/708.1
`5,309,169 5/1994 Lippert ........................................ 345/8
`5,320,538 6/1994 Baum
`434/307
`5,321,416 6/1994 Bassett et al. ............................ 345/8
`5,322,441
`6/1994 Lewis et al. ...
`434/307
`5,323,174 6/1994 Klapman et al.
`... 345/156
`5,327,175
`7/1994 Kim ...
`348/526
`5,331,149 7/1994 Spitzer et al.
`250/221
`5334,991 8/1994 Wells et al.................. 345/8
`5,335,299 8/1994 Atkinson ..
`... 382/56
`5,347,400 9/1994 Hunter .....
`359/815
`5,351,005 9/1994 Rouse et al. ...
`... 324/252
`5,353,042 10/1994 Klapman et al.
`... 345/156
`5,357,372 10/1994 Chen et al. .....
`359/637
`5,373,857 12/1994 Travers et al. .
`... 128/782
`5,381,603
`1/1995 Lee ..............
`... 33/355 R
`5,383,053
`1/1995 Hegg et al. .
`359/486
`5.388,276 2/1995 Holmes ................................
`2/421
`5,392,158
`2, 1995 Tosaki.
`359/633
`5,408,346 4/1995 Trissel et al.
`... 359/65
`5,422,715 6/1995 Clarke ......
`... 356/141.3
`5,432,626 7/1995 Sasuga et al.
`... 359/83
`5,451,976 9/1995 Ito ............................................... 345/8
`
`5,089,903 2/1992 Kuwayama et al.
`
`... 359/15
`
`5,091,697 2/1992 Roth et al. .............................. 324/253
`5,091,719 2/1992 Beamon .................................. 340/705
`5,093,567 3/1992 Staveley .....
`... 250/221
`5,101,298 3/1992 Lentz et al. ............................. 359/612
`5,115,345 5/1992 Hobson et al. ......................... 359/601
`5,121,253
`6/1992 Waintroob.
`... 359/601
`5,123,726
`6/1992 Webster .....
`... 351/201
`5,124,821
`6/1992 Antier et al. ......
`... 359/14
`5,129,716 7/1992 Holakovszky et al.
`351/50
`5,130,794 7/1992 Ritchey ..........
`358/87
`5,138,555 8/1992 Albrecht.
`364/424.06
`5,142,655 8/1992 Drumm ..................................... 379/52
`5,144.294 9/1992 Alonzi et al. ..
`340/825.49
`5,146,623 9/1992 Paysan et al. ................................ 2/12
`5,150,104 9/1992 Thomas et al.
`... 340/686
`5,151,722 9/1992 Massof et al. .
`... 351/158
`5,155,627 10/1992 Keehn et al. ..
`... 359/609
`5,157,841 10/1992 Dinsmore .......
`... 33/361
`5,162,828 11/1992 Furness et al. ...
`... 353/122
`5,162,928 11/1992 Taniguchi et al.
`... 359/13
`5,164,848 11/1992 Firth et al. .....
`359/13
`5,166,778 11/1992 Beamon .....
`... 358/3
`5,170,153 12/1992 Migozzi et al.
`340/705
`5,182,817 2/1993 Branum ......
`... 2/439
`5,184,231
`2/1993 Ellis ...........
`359/13
`5,187,871
`2/1993 McDermott ...
`33/354
`5,189,512 2/1993 Cameron et al. .
`358/93
`5,192,960 3/1993 Komamura ...
`... 351A41
`5,198,628 3/1993 Bitko .......
`200/61.47
`5,198.928 3/1993 Chauvin
`... 359/465
`5,200,844 4/1993 Suvada .......
`359/40
`5,216,759 6/1993 Hewitt et al. ..
`... 2/439
`5,227,985
`7/1993 DeMenthon ...
`... 364/559
`5,231,379
`7/1993 Wood et al. ...
`... 340/705
`5,231,483
`7/1993 Sieber et al.
`... 358/125
`5,239,264 8/1993 Hawks .................................... 324/253
`
`5,486.841
`
`1/1996 Hara et al. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 345/8
`
`359/630
`5,526,184 6/1996 Tokuhashi et al.
`. 34.5/151
`5.528,262 6/1996 McDowall et al.
`345/8
`5,696,521 12/1997 Robinson et al. .
`5,774,096 6/1998 Usuki et al. ................................ 345/8
`FOREIGN PATENT DOCUMENTS
`
`91309108 10/1991 European Pat. Off..
`O 461942 12/1991 European Pat. Off. .......... G09B 9/32
`O 461942 A1 12/1991 European Pat. Off. .......... G09B 9/32
`0 477 888 4/1992 European Pat. Off. ........ G01S 17/87
`0 479 605 4/1992 European Pat. Off. .......... G09B 9/30
`O 519 630 12/1992 European Pat. Off.
`. GO1C 21/20
`2517916 6/1983 France ....
`... HO4N 9/54
`2 636 134 3/1990 France ....
`. GO1C 21/20
`2 660 428 10/1991 France ....
`GO1C 17/02
`224691 7/1910 Germany ................................ 34/20 I
`1623 555 5/1971 Germany ...
`GO1C 17/30
`2 536 140 4/1976 Germany ...
`... GO1C 17/10
`3532730 3/1987 Germany ...
`... A61B 1/04
`3628458 2/1988 Germany ...
`... HO4N 1/20
`3644681 7/1988 Germany ...
`... GO1C 21/08
`3 708 582 12/1988 Germany ...
`... GO1C 21/08
`4 102 896 8/1992 Germany ...
`. GO1P 13/OO
`4225589A1 2/1994 Germany
`... GO9F 9/00
`59-117889 7/1984 Japan .
`... HO4N 9/54
`59-219092 12/1984 Japan ............................... HO4N 9/54
`62-272698 11/1987 Japan.
`63-82192 4/1988 Japan.
`63-177689 7/1988 Japan.
`1–61723 3/1989 Japan.
`G09G 5/36
`5-46161 2/1993 Japan
`. GO2B 27/28
`6-59217 3/1994 Japan .
`61-10014 4/1994 Japan ............................. CO1B 25/45
`101.0641
`4/1983 U.S.
`GO9B 9/04
`1218416 3/1986
`. GO9B 9/04
`13998O2 5/1988 U.S.S.R. .......................... GO9B 9/04
`
`
`
`META 1023
`META V. THALES
`
`

`

`5,991,085
`Page 4
`
`1485015 6/1989 U.S.S.R. ........................ GO1C 17/OO
`1560091 4/1990 U.S.S.R. ......
`... A61 B 5/103
`1607775 11/1990 U.S.S.R. .......................... A61B 5/11
`1616603 12/1990 U.S.S.R. ........................ A61 B 5/103
`1700573 12/1991 U.S.S.R. .......................... GB 9
`2093 591 9/1982 United Kingdom ........... GO1C 17/28
`2 117 609 10/1983 United Kingdom ............. G09B 9/00
`2 143 948 2/1985 United Kingdom ............. GO1C 1/OO
`2 157 426 10/1985 United Kingdom ............ GO1B 11/26
`2 164748 3/1986 United Kingdom ........... GO1C 17/08
`2 177 512 1/1987 United Kingdom
`GO1C 17/28
`2 179 543 3/1987 United Kingdom.
`2 195 180 3/1988 United Kingdom ........... GO1C 17/04
`2266385A 10/1993 United Kingdom ........... GO2B 23/10
`2270775A 3/1994 United Kingdom ........... GO2B 27/02
`2279 201 12/1994 United Kingdom ............. HO4R 1/10
`2281,846 3/1995 United Kingdom.
`... A45F 3/OO
`84/O1680 4/1984 WIPO ..
`... HO4N 5/64
`WO92/O1276 1/1992 WIPO .............................. GO9B 9/10
`WO 92/03756 3/1992 WIPO .
`... GO2B 27/00
`WO 92/15078 9/1992 WIPO .............................. GO9B 9/OO
`WO92/21117 11/1992 WIPO .............................. GO9B 9/34
`93/23783 11/1993 WIPO.
`G09G 3/02
`WO 94/11855 5/1994 WIPO
`G09G 3/02
`WO 94/14152 6/1994 WIPO .
`... GO2B 27/01
`WO95/21395 8/1994 WIPO .
`WO 94/24658 10/1994 WIPO .............................. SOG 392
`WO95/1006 1
`4/1995 WIPO ............................ GO2B 26/10
`WO95/101.06 4/1995 WIPO .............................. G09G 3/02
`
`
`
`OTHER PUBLICATIONS
`Antonoff, “Living in a Virtual World”, Popular Science, Jun.
`1993, pp. 83–86, 124-125.
`Applewhite, “Position Tracking in Virtual Reality”, Beyond
`the vision: the technology, research, and business of virtual
`reality, Proceedings of Virtual Reality 91, the Second
`Annual Conference on Virtual Reality, Artificial Reality, and
`Cyberspace, 1991 San Francisco, pp. 1-8.
`. what
`.
`Black, "Digi-Compass, Is your house rotating .
`about your computer?', Radio Electronics, Nov. 1989, pp.
`43-45, 50–51, 82.
`Bridges, “Three-dimensional displays in the future flight
`station”, SPIE, vol. 507, 1984, pp. 143–154.
`Brooks, “Head Sensor Ideas”, Oxford University, Nov. 22,
`1991.
`Burley et al., “A full-color wide-field-of-view holographic
`helmet-mounted display for pilot/vehicle interface develop
`ment and human factors studies”, SPIE, Vol. 1290, 1990, pp.
`9-15.
`Caristi, “Build An Electronic Compass”, Radio Electronics,
`Jun. 1991, pp. 39–42.
`Carr, “Is Virtual Reality Virtually Here?", Training & Devel
`opment, Oct. 1992, pp. 37-41.
`Casey et al., “Survey of Available Head Tracking Technol
`ogy”, PCVR, vol. 1, Issue 5, Sep./Oct. 1992, pp. 2-11.
`Clarke, “Cheap Head Orientation Sensors”, University of
`Central Florida, Nov. 25, 1991.
`Clarke, “Hybrid Approaches to Orthogonal Localization and
`Orientation Systems”, Small Business Innovation Research
`Program, Proposal Cover Sheet and Project Summary, Jan.
`9, 1992.
`Clarke, “Keeping Your Virtual Feet on the Ground”, PCVR,
`Issue 13, Jan./Feb. 1994, pp. 13-24.
`Deering, “High Resolution Virtual Reality”, Computer
`Graphics, 26, 2, Jul. 1992, pp. 195, 197, 201.
`“Electrical Devices', Dinsmore No. 1525 Analog Sensor, R
`& D Magazine, Oct. 1991.
`
`Extance et al., “GaAs Magnetic Field Sensors”, IEEE, 1985,
`p. 304-307.
`Ferrin, “Survey of helmet tracking technologies”, SPIE, Vol.
`1456, 1991
`86-94
`ing in a Virtual World". Byte. Jul 1990
`Isher et al., “Living in a Virtual World, Byte, Jul. 1990, pp.
`215-216, 218, 220-221.
`Foley, Interfaces for Advanced Computing, Scientific Ameri
`can, Oct. 1987, vol. 257, No. 4, pp. 126–135.
`The FrederickS Co., Specifications, memoranda, and graphs,
`Nov. 16, 1992.
`.
`- -
`-
`-
`ss
`St. E. Justing 5.Smart Compass”, Oshkosh
`Hampton, Virginia, so
`Gottschalk, et al., “Autocalibration for Virtual Environments
`Tracking Hardware', Computer Graphics Proceedings,
`Annual Conference Series, 1993, pp. 65-72.
`Grenoble, “Sensor and logic form digital compass', Dins
`more No. 1490 Digital Sensor, EDN, Dec. 6, 1990.
`Honeywell, “One-Axis Magnetoresistive Microcircuit
`HMC10O1
`ificati
`Mar. 1995
`-
`-
`-
`specifications, Mar.
`. .
`Honeywell, “Two-Axis Magnetoresistive Microcircuit
`HMC1002", specifications, Mar. 1995.
`Horn, “Seeing the invisible”, U.S. News & World Report,
`Jan. 28, 1991, pp. 56–58.
`James, “Goggles Brighten Dark Subway", The New York
`Times, Apr. 10, 1992
`s
`• -- Yus
`Jones et al., “Evaluation of conformal and body-axis atti
`tude information for spatial awareness”, SPIE, Vol. 1695,
`1992, pp. 146-153.
`Affiliate
`Kopin Corporation, “Kopin Corporation
`Announces Strategic Alliance With Marubeni Australia Ltd.;
`Marubeni to Distribute Forte Technologies’ VFX1(TM) in
`the Far East and Pacific Rim Markets’, Business Wire, May
`31, 1995.
`Krueger, Artificial Reality, 1983 Addison-Wesley Publish
`ing Company, pp. 67-68.
`Krueger, Artificial Reality II, 1991 Addison-Wesley Pub
`lishing Company, Inc., pp. 66-82, 102-116, 130-149,
`179-182,237-239, 267-279.
`Lancaster, “Hardware Hacker, A Solid-State digital com
`pass', Radio-Electronics, Dec. 1988, pp. 33–36, 96.
`Lindquist, “Demo 92: From the practical to the playful’,
`Computerworld, Feb. 10, 1992, p. 37.
`Merritt et al., “Stereoscopic Displays and Applications II”,
`SPIE, vol. 1457, 1991, pp. 327–343.
`Merritt et al., “Stereoscopic Displays and Applications III”,
`SPIE, vol. 1669, 1992, pp. 84–89.
`Meyer et al., “A Survey of Position Trackers”, Presence, vol.
`1, No. 2, Spring 1992, p. 173–200.
`Micronta, Service Manual, Flux-Gate Electronic Compass
`Catalog No.: 63-641, 1992, pp. 1-12.
`Miller, “Online Interviews Dr. Thomas A. Furness III,
`Virtual Reality Pioneer", ONLINE, Nov. 1992, pp. 14–15,
`17–18, 20–22, 24–27.
`Noble, “Electronic fluxgate compass”, Electronics World &
`Wireless World, Jan. 1992.
`Ono-Sendai Corporation, Specifications, Dec. 22, 1993.
`Petersen, "Magnetoresistive Sensors for navigation',
`IMechE, C391/028, 1989, pp. 87-92.
`Philips Semiconductors, “Magnetic field sensor', Product
`specification, KMZ10B, Oct. 1994, p. 61, 64.
`Pietila et al., “Vector Magnetometer as an Attitude Deter
`mining Instrument", NASA Grant NGR 05-017–031,
`Research Report, Dec. 27, 1974, pp. 1-16.
`
`META 1023
`META V. THALES
`
`

`

`5,991,085
`Page 5
`
`Primdahl, “The fluxgate magnetometer”, Journal of Physics
`E. Scientific Instruments, vol. 12, No. 4, Apr. 1979, pp.
`241-253.
`Raab et al., “Magnetic Position and Orientation Tracking
`System”, IEEE, vol. AES-15, No. 5, Sep. 1979, p. 709–718.
`Raman, “Magnetic heading sensor”, Electronics & Wireless
`World, Oct. 1988, pp. 1023-1024.
`Smith, “VA to Test PC System for Handicapped', Govern
`ment Computer News, vol. 9, No. 6, Mar. 19, 1990, p. 114,
`ISSN 0738-43OO.
`Stewart, “Through the looking glass into an artificial
`world-via computer”, Smithsonian, vol. 21, No. 10, Jan.
`1991, pp. 36–45.
`Sutherland, “A head-mounted three dimensional display',
`Fall Joint ComputerConference, 1968, pp. 757-763.
`Travers, “Consumer Markets—The Cybermax HMD”, Vir
`tual Reality, 1994.
`“Virtual Reality Resource Guide”, A1 Expert, Aug. 1992,
`pp. 42-47.
`“Airlines Weigh Benefits, Costs of At-Seat Video', Aviation
`Week & Space Technology, Aug. 15, 1994, pp. 44-45.
`Antonorff, “Real estate is cheap here, but the places you'd
`most want to visit are still under construction”, Popular
`Science, Jun. 1993, pp. 83–86, 124-125.
`ASSenheim et al., "Large-Screen-Projection, Avionic, and
`Helmet-Mounted Displays”, Proceedings, The International
`Society for Optical Engineering, Feb. 26-28, 1991, vol.
`1456, pp. 179-180.
`Benton, “Practical Holography VIII', Proceedings, The
`International Society for Optical Engineering, Feb. 7-9,
`1991, vol. 2176, pp. 241-248.
`
`Burley, et al., “A full-color wide-field-of-view holographic
`helmet-mounted display for pilot/vehicle interface develop
`ment and human factors studies', SPIE, Vol. 1290 Helmet
`-Mounted Displays II (1990), pp. 9-15.
`Driscoll et al., Handbook of Optics, McGraw-Hill Book
`Company, 1978, p. 13-6.
`Farmer, “The right solution to the right problem . . . now”,
`Comdex Daily, Nov. 15, 1994, p. 4.
`Fischer, “Fundamentals and Optics for Head Mounted Dis
`plays”, Photonics West '95, Feb. 4-10, 1995.
`Horn, “Seeing the invisible”, U.S. News & World Report,
`Jan. 28, 1991.
`Pope, “Say ahhh! Videos help you relax”, The Times-Pica
`yune, Oct. 25, 1994, pp. 1, A-6.
`Rotier, “Optical Approaches to the Helmet Mounted Dis
`play”, SPIE, 1989, vol. 1116, pp. 14-17.
`Siggraph, Nikkei Electronics, Aug. 22, 1994, pp. 13-14.
`Starks, “Stereoscopic video and the quest for virtual reality:
`an annotated bibliography of selected topics”, SPIE, Vol.
`1457 Stereoscopic Displays and Applications II (1991), pp.
`327-343.
`“Survey of Head Mounted Displays”, Real Time Graphics,
`Aug. 1994, vol. 3, No. 2, pp. 1, 8-12.
`Virtual I/O, “i-glasses!', Twice CES Daily, Jan. 6, 1995, p.
`30.
`Virtual I/O. Specifications, Virtual Reality World, Nov./Dec.
`1994, p. 11.
`Virtual I/O, VR News, "Tele-Communications Inc. to market
`test Virtual I/O HMDs for cable TV applications”, Aug./Sep.
`1994, p. 17.
`VR News, Dec. 1994, vol. 3, Issue 10, pp. 4, 8, 12.
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 1 of 32
`
`5,991,085
`
`F.G. 1
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 2 of 32
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 3 of 32
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`32
`Sheet 4 of
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 5 of 32
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 6 of 32
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 7 of 32
`
`5,991,085
`
`
`
`
`
`
`
`
`
`(a aa\til
`A NVAAAAI
`= AeAS
`A. Al-Hi ALL ENNE
`
`
`
`
`
`AIN/ I s
`W If a
`N
`
`
`
`
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 8 of 32
`
`5,991,085
`
`FIG. 13B
`
`
`
`154C
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 9 of 32
`
`5,991,085
`
`F.G. 14A
`2O2
`
`FIG. 14B
`
`
`
`228
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 10 0f 32
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 11 of 32
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 12 of 32
`
`5,991,085
`
`
`
`
`
`VCR
`
`LEFT AUDIO OUT
`
`
`
`RIGHT AUDIO OUT
`
`VIDEO OUT
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 13 of 32
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 14 of 32
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 15 0f 32
`
`5,991,085
`
`
`
`F.G. 18
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 16 of 32
`
`5,991,085
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 17 of 32
`
`5,991,085
`
`
`
`DEFINE REFERENCE
`YAW DIRECTION
`
`MOVING OR
`NOT MOVING
`
`CALCULATE
`YAW BASED
`ON SENSOR
`OUTPUT
`
`S THERE
`A YAW CORRECTION
`THAT HAS NOT YET
`BEEN APPLIED
`
`
`
`APPLY YAW
`CORRECTION
`
`
`
`CALCULATE DIFFERENCE =
`CURRENT YAW MINUS
`POSITION
`
`
`
`1310
`
`IS
`DIFFERENCE
`< DRIFT
`'RESHOL)
`
`STORE DIFFERENCE
`AS "YAW CORRECTION"
`
`
`
`1312
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`META 1023
`META V. THALES
`
`

`

`(2X)SY3¥v3dSONOW“WAGOlanv7
`
`
`
`
`STYNOISONIN,TWI03dS,,ro
`
`82ZchleOLIZ
`9012ONINIL091ISLNISINJLISOdWOD
`9112viz
`opziz’?49YIMOdIGAg
`STVNOIS894LZ‘Ol3
`
`
`
`S¢éL
`
`vO1C
`
`
`
`MOLVYINSO4300930
`
`Z01Z
`
`LIZ
`
`
`
`TONLNODSWNIOA9Z1Z
`
`91901
`
`43MOd
`
`
`
`U.S. Patent
`
`5,991,085
`
`Nov.23, 1999
`
`Sheet 18 of 32
`
`(2)SLHOTDOVEToyN00/3MILFIGYANVYDONd[~S3HOLIMS3WMI0A®Y3MOd
`
`7S0212ACC
`
`Z9
`
`
`
`SdN¥OIGNV
`
`META 1023
`META V. THALES
`
`
`
`AGL/AZLAlddfSee
`
`META 1023
`META V. THALES
`
`
`

`

`U.S. Patent
`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 19 of 32
`
`5,991,085
`5,991,085
`
`COLSOS
`
`
`G3LNNOW-GV3H
`
`(GQWH)AV1dSIC
`
`LpHOLIMSY3MOd
`Onre
`
`10G
`
`YILYSANOD90OLOV
`
`
`
`
`
`
`
`
`
`
`
`
`SuayV3dSSOS
`[uaMOdOv|08ZeOl
`
`OGIS
`
`NOISIAAT3LYOYOLINOW
`
`q91¢
`
`META 1023
`META V. THALES
`
`META 1023
`META V. THALES
`
`
`
`
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 20 0f 32
`
`5,991,085
`
`FIG. 24
`
`
`
`META 1023
`META V. THALES
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 21 of 32
`
`5,991,085
`
`DyIS
`
`QPris
`
`
`COLLeeAAIZ03N‘FAVId
`
`
`findladeo1any}—-TP?!SosoanFIs
`
`“Riaownsor|L-WSS“Old
`GaLNNOW-GV3H
`(GWH)AV1dSIG
`
`
`)r0SVSZ‘Old
`K|30V4NGINIOd
`
`
`
`C-VWGCE“OlL-V¥G¢“OU
`0700—||oaaes—
`i6_1u0aOGfrieony[ioe
`
`fos- gSGzZ‘Old
`
`¥SIGOFA“YOA
`
`Ol
`S
`
`
`
`META 1023
`META V. THALES
`
`META 1023
`META V. THALES
`
`
`
`
`
`

`

`U.S. Patent
`
`Nov. 23, 1999
`
`Sheet 22 of 32
`
`5,991,085
`
`
`
`C—-VWGC‘Old
`
`ve
`
`G3LNNOW-QV3H
`
`(GWH)AV1dSId
`
`COL
`
`9s
`
`—
`
`YOSNSTATSOOTYNY|WONd|2zS|07SDyPyGG/¥K4YOSSSOONdONOIN
`
`227S_GbS|NOSNIS—ZNY9ZS——JOMLNOD1109
`9S|pyS|LOSEottNY|84s
`BESNTSOSNRSTIOazo7Nodes|uaMOd|Baesd
`NOSNISHOlid76
`
`eaeeeeeases— —TTTT—_—
`
`JOULNODONVVLVG
`
`yal
`
`uaMOd
`
`META 1023
`META V. THALES
`
`META 1023
`META V. THALES
`
`
`
`
`
`

`

`U.S. Patent
`U.S. Patent
`
`Nov.23, 1999
`
`Sheet 23 of 32
`
`5,991,085
`5,991,085
`
`0296
`
`
`
` pO||OYAgAlva!Ea206cc6|zopaeas_|-[a/v}{uossz00ua040in||[suayvaas][xouINon‘91s
`WaLaNOWITI0OV_HOLId|[eaanousTa0ovTou}!©gze7OEYaMOd
`
`|Y3MOd|[F|TOULNOD|
`
`
`
`
`
`
`
`
`
`
`
`ASICO3GIA'YOA
`
`
`
`YSAISO3Y‘YSAVId
`
`0Gé‘Old
`
`O1S
`
`
`TEINOLYOdOIGNVaNILYOd
`OIGNV|LYOd
`O3GIA
`LY¥OdWIYSS
`
`META 1023
`META V. THALES
`
`META 1023
`META V. THALES
`
`
`
`
`
`
`

`

`U.S.