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`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 1 of 37 PagelD#: 1011
`
`
`EXHIBIT A
`EXHIBIT A
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 2 of 37 PageID #: 1012
`cesssTTTATA
`
`US007933431B2
`
`US 7,933,431 B2
`(10) Patent No.:
`a2) United States Patent
`Pryor
`(45) Date of Patent:
`Apr. 26, 2011
`
`
`(54) CAMERA BASED SENSING IN HANDHELD,
`MOBILE, GAMING, OR OTHER DEVICES
`.
`>
`.
`.
`Inventor: Timothy R. Pryor, Tecumseh (CA)
`
`(76)
`
`(52) U.S.Cwes 382/103; 382/104; 348/207.1
`(58) Field of Classification Search ............0..... 382/103,
`382/104; 348/207.1
`See applicationfile for complete searchhistory.
`
`(*) Notice:
`
`Subject to any disclaimer, the term ofthis
`patent is extended or adjusted under 35
`US.C. 154(b) by 0 days.
`
`(56)
`
`References Cited
`U.S. PATENT DOCUMENTS
`
`(21) Appl. No.: 12/834,281
`
`(22)
`
`Filed:
`
`Jul. 12, 2010
`
`5,878,174 A *
`6,342,917 BI*
`6,453,180 BIL*
`6,597,817 BL*
`
`3/1999 Stewart et al... 382/293
`«. 348/207.1
`1/2002 Amenta ..........
`
`9/2002 Endoh etal. oo. . 455/567
`7/2003 Silverbrook v.00... 382/289
`
`(65)
`
`Prior Publication Data
`US 2010/0277412 Al
`Nov. 4, 2010
`
`* cited by examiner
`
`Related U.S, Application Data
`(63) Continuation of application No. 11/980,710, filed on
`Oct. 31, 2007, now Pat. No. 7,756,297, which is a
`continuation of application No. 10/893,534, filed on
`Jul. 19, 2004, now Pat. No. 7,401,783, which is a
`continuation of application No. 09/612,225, filed on
`Jul. 7, 2000, now Pat. No. 6,766,036.
`..
`oo,
`(60) Provisional applicationNo. 60/142,777,filed on Jul. 8,
`1999.
`
`(51)
`
`Int. Cl.
`G06K 9/00
`
`(2006.01)
`
`Primary Examiner ~~ Tom Y Lu
`(74) Attorney, Agent, or Firm —Warner Norcross & Judd
`LLP
`
`(57)
`
`ABSTRACT
`oe
`;
`Methodand apparatus are disclosed to enable rapid TV cam-
`era and computer based sensing in many practical applica-
`tions, including, but not limited to, handheld devices, cars,
`and video games.Several unique formsofsocial video games
`are disclosed.
`
`31 Claims, 22 Drawing Sheets
`
`816
`
`830
`=[eoweureR|
`
`\S=
`
`
`
`803
`
`B24
`
`853
`
`851
`
`852
`
`850
`
`N 849
`
`GTP_00000810
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 3 of 37 PageID #: 1013
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 3 of 37 PagelD #: 1013
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 1 of 22
`
`US 7,933,431 B2
`
`138
`
`Nias
`
`147
`
`148
`
`160
`
`165
`
`164
`
`166
`
`467
`
`FIG. 1B
`
`Gh FIG. 1C
`
`183
`
`GTP_0000081 1
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 4 of 37 PageID #: 1014
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 4 of 37 PagelD #: 1014
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 2 of 22
`
`US 7,933,431 B2
`
`1000
`
`205
`
`ELEMENTS
`
` y
`
`500
`
`1000
`
` COMPUTER
`
`X
`ELEMENTS
`
`250
`
`251
`
`240—_
`
`GTP_00000812
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 5 of 37 PageID #: 1015
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 5 of 37 PagelD #: 1015
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 3 of 22
`
`US 7,933,431 B2
`
`220
`
` COMPUTER
`
`271
`
`270
`
`280
`
`FIG. 2C
`
`GTP_00000813
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 6 of 37 PageID #: 1016
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 6 of 37 PagelD #: 1016
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 4 of 22
`
`US 7,933,431 B2
`
`
`
`410
`
`402
`
`o™~401
`\
`
`“‘~
`
`405
`
`406
`
`FIG. 4A
`
`GTP_00000814
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 7 of 37 PageID #: 1017
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 7 of 37 PagelD #: 1017
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 5 of 22
`
`US 7,933,431 B2
`
`
`
`302
`
`301
`
`445
`
`FIG. 4B
`
`GTP_00000815
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 8 of 37 PageID #: 1018
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 8 of 37 PagelD #: 1018
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet6 of 22
`
`US 7,933,431 B2
`
`349
`
`aa - 395
`
`“.
`\
`
`346
`
`347
`
`340
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`341
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`
`FIG. 3B
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`
`GTP_00000816
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`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 9 of 37 PageID #: 1019
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 9 of 37 PagelD #: 1019
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 7 of 22
`
`US 7,933,431 B2
`
`
`
`FIG. 5A
`
`
`
`FIG. 5B
`
`GTP_00000817
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 10 of 37 PageID #: 1020
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 10 of 37 PagelD #: 1020
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 8 of 22
`
`US 7,933,431 B2
`
` COMPUTER
`
`oy)
`
`610
`
`FIG. 6
`
`GTP_00000818
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 11 of 37 PageID #: 1021
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 11 of 37 PagelD #: 1021
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 9 of 22
`
`US 7,933,431 B2
`
`730
`
`731 700
`re 701
`
`733
`
`705
`
`
`
`905
`
`FIG. 9
`
`GTP_00000819
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 12 of 37 PageID #: 1022
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 12 of 37 PagelD #: 1022
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 10 of 22
`
`US 7,933,431 B2
`
`
`
`853
`
`851
`
`852
`
`850
`
`849
`
`FIG. &B
`
`GTP_00000820
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 13 of 37 PageID #: 1023
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 13 of 37 PagelD #: 1023
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 11 of 22
`
`US 7,933,431 B2
`
`1041
`
`1042
`
`1010 1000
`
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`
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`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 14 of 37 PageID #: 1024
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 14 of 37 PagelD #: 1024
`
` 1077
`
`U.S. Patent
`
`N~©_
`
`Apr. 26, 2011
`
`Sheet 12 of 22
`
`US 7,933,431 B2
`
`FIG.10B
`
`GTP_00000822
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 15 of 37 PageID #: 1025
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 15 of 37 PagelD #: 1025
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 13 of 22
`
`US 7,933,431 B2
`
`1160
`
`1152
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`1140
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`
`GTP_00000823
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`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 16 of 37 PageID #: 1026
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 16 of 37 PagelD #: 1026
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 14 of 22
`
`US 7,933,431 B2
`
`1110
`
`1167
`
`FIG.11B
`
`GTP_00000824
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 17 of 37 PageID #: 1027
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 17 of 37 PagelD #: 1027
`
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`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 18 of 37 PageID #: 1028
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 18 of 37 PagelD #: 1028
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`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 19 of 37 PageID #: 1029
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 19 of 37 PagelD #: 1029
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`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 20 of 37 PageID #: 1030
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 20 of 37 PagelD #: 1030
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 18 of 22
`
`US 7,933,431 B2
`
`
`
`1498
`
`FIG. 14C
`
`GTP_00000828
`
`

`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 21 of 37 PageID #: 1031
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 21 of 37 PagelD #: 1031
`
`U.S. Patent
`
`Apr. 26, 2011
`
`Sheet 19 of 22
`
`US 7,933,431 B2
`
`1505 FIG.15
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`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 22 of 37 PageID #: 1032
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 22 of 37 PagelD #: 1032
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`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 23 of 37 PageID #: 1033
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 23 of 37 PagelD #: 1033
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`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 24 of 37 PageID #: 1034
`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 24 of 37 PagelD #: 1034
`
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`

`Case 2:21-cv-00040-JRG Document 64-1 Filed 08/15/21 Page 25 of 37 PageID #: 1035
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`
`US 7,933,431 B2
`
`1
`CAMERA BASED SENSING IN HANDHELD,
`MOBILE, GAMING, OR OTHER DEVICES
`
`
`CROSS REFERENCE TO RELATED
`APPLICATIONS
`
`2
`6. “Apparel Manufacture and Distance Fashion Shopping
`in Both Present and Future”: U.S. Appin. Ser. No.
`60/187,397, filed Mar. 7, 2000.
`
`FIELD OF THE INVENTION
`
`This application is a continuation ofapplication Ser. No.
`11/980,710 filed Oct. 31, 2007, now U:S. Pat. No. 7,756,297;
`whichis a continuation of application Ser. No. 10/893,534
`filed Jul. 19, 2004, now U.S. Pat. No. 7,401,783; which is a
`continuation of application Ser. No. 09/612,225 filed Ful. 7,
`2000, now U.S. Pat. No. 6,766,036; which claims the benefit
`of U.S. Provisional Application No. 60/142,777,filed Jul. 8,
`1999.
`
`Cross references to related co-pending US applications by
`the inventor having similar subject matter.
`1. Touch TV and other Man MachineInterfaces: Ser. No.
`
`09/435,854 filed Nov. 8, 1999, now U.S. Pat. No. 7,098,
`891; which was a continuation of application Ser. No.
`07/946,908, now U.S. Pat. No. 5,982,352;
`2. More Useful Man MachineInterfaces and Applications:
`Ser. No. 09/433,297 filed Nov. 3, 1999, now U.S. Pat.
`No. 6,750,848;
`3. Useful Man Machine interfaces and applications: Ser.
`No. 09/138,339, Pub. Appln. 2002-0036617, now aban-
`doned;
`4. Vision Target based assembly: Ser. No. 08/469,907filed
`Jun. 6, 1995, now U.S. Pat. No. 6,301,783;
`5. Picture Taking method and apparatus: provisional appli-
`cation 60/133,671, and regular application Ser. No.
`09/568,552 filed May 11, 2000, now U.S. Pat. No. 7,015,
`950;
`6. Methods and Apparatus for Man MachineInterfaces and
`Related Activity: Provisional Application: provisional
`application 60/133,673 filed May 11, 1999; and regular
`application Ser. No. 09/568,554 filed May 11, 2000, now
`US, Pat. No. 6,545,670;
`7. Tactile Touch Screens for Automobile Dashboards,Inte-
`riors and Other Applications: provisional application
`Ser. No. 60/183,807; and regular application Ser. No.
`09/789,538, now U.S. Pat. No. 7,084,859; and
`8. Apparel Manufacture and Distance Fashion Shopping in
`Both Present and Future: provisional application
`60/187,397 filed Mar. 7, 2000.
`The disclosures ofthe following U.S. patents and co-pend-
`ing patent applications by the inventor,or the inventor and his
`colleagues, are incorporated herein by reference:
`1. “Man machine Interfaces”: U.S. application Ser. No.
`09/435,854 and U.S. Pat. No. 5,982,352, and U.S. appli-
`cation Ser. No. 08/290,516, filed Aug. 15, 1994, now
`USS. Pat. No. 6,008,000, the disclosure of both of which
`is contained in that of Ser. No. 09/435,854;
`2. “Useful Man Machine Interfaces and Applications”:
`U.S. application Ser. No. 09/138,339, now Pub. Appin.
`2002-0036617;
`3. “More Useful Man Machine Interfaces and Applica-
`tions”: U.S. application Ser. No. 09/433,297;
`4. “Methods and Apparatus for Man Machine Interfaces
`and Related Activity”: U.S. Appin. Ser. No. 60/133,673
`filed as regular application Ser. No. 09/568,554, now
`US. Pat. No. 6,545,670;
`5. “Tactile Touch Screens for Automobile Dashboards,
`Interiors and Other Applications”: U.S. provisional
`Appln. Ser. No. 60/183,807, filed Feb. 22, 2000, now
`filed as reg. application Ser. No. 09/789,538; and
`
`10
`
`15
`
`2
`
`25
`
`30
`
`35
`
`40
`
`45
`
`50
`
`60
`
`65
`
`The invention relates to simple input devices for comput-
`ers, particularly, but not necessarily, intended for use with 3-D
`graphically intensive activities, and operating by optically
`sensing a human input to a display screen or other object
`and/or the sensing of humanpositions or orientations. The
`invention herein is a continuation in part of several inventions
`of mine, listed above.
`This continuation application seeks to provide further use-
`ful embodiments for improving the sensing of objects. Also
`disclosed are new applications in a variety of fields such as
`computing, gaming, medicine, and education. Further dis-
`closed are improved systems for display and control pur-
`poses.
`The invention uses single or multiple TV cameras whose
`output is analyzed and used as input to a computer, such as a
`homePC,to typically provide data concerning the location of
`parts of, or objects held by, a person or persons.
`
`DESCRIPTION OF RELATED ART
`
`The above mentioned co-pending applications incorpo-
`rated by reference discuss manyprior art references in various
`pertinent fields, which form a background forthis invention.
`Some more specific U.S. Patent references are for example:
`DeMenthon——U’S. Pat. Nos. 5,388,059; 5,297,061; 5,227,
`985
`Cipolla—U’S. Pat. No. 5,581,276
`Pugh—U.S. Pat. No. 4,631,676
`Pinckney—U.S. Pat. No. 4,219,847
`
`DESCRIPTION OF FIGURES
`
`FIG.1 illustrates a basic computer terminal embodiment of
`the invention, similar to that disclosed in copending applica-
`tions.
`FIG. 2 illustrates object tracking embodiments of the
`invention employing a pixel addressable camera.
`FIG. 3 illustrates tracking embodiments ofthe invention
`using intensity variation to identify and/ortrack objecttarget
`datums.
`FIG.4 illustrates tracking embodiments of the invention
`using variation in color to identify and/or track object target
`datums.
`FIG. § illustrates special camera designs for determining
`target position in addition to providing normalcolor images.
`FIG.6 identification and tracking with stereo pairs.
`FIG.7 illustrates use of an indicator or co-target.
`FIG.8 illustrates control of functions with the invention,
`using a handheld device which itself has functions.
`FIG. 9 illustrates pointing at an object represented on a
`screen using a finger or laser pointer, and then manipulating
`the represented object using the invention.
`FIG.10 illustrates control of automobile or other functions
`
`with the invention, using detected knob, switch orslider posi-
`tions.
`FIG. 11 illustrates a board game embodiment ofthe inven-
`tion.
`FIG. 12 illustrates a generic game embodimentof the
`invention.
`FIG. 13 illustrates a game embodiment of the invention,
`such as might be played in a bar.
`
`GTP_00000833
`
`

`

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`US 7,933,431 B2
`
`3
`FIG. 14 illustrates a laser pointer or other spot designator
`embodimentofthe invention.
`
`FIG. 15illustrates a gesture based flirting game embodi-
`mentof the invention.
`FIG.16 illustrates a version ofthe pixel addressing camera
`technique wherein two lines on either side of a 1000 element
`square array are designated as perimeterfencelinestoinitiate
`tracking or other action.
`FIG.17 illustrates a 3-D acoustic imaging embodiment of
`the invention.
`
`THE INVENTION EMBODIMENTS
`
`FIG. 1
`The invention herein and disclosed in portions of other
`copending applications noted above, comprehends a combi-
`nation of one or more TV cameras(or other suitable electro-
`optical sensors) and a computer to provide various position
`and orientation related functionsofuse. It also comprehends
`the combination of these functions with the basic task of
`generating, storing and/or transmitting a TV image ofthe
`scene acquired—eitherin two or three dimensions.
`The embodiment depicted in FIG. 1A illustrates the basic
`embodiments of many of my co-pending applications above.
`A stereopair of cameras 100 and 101 located on eachside of
`the upper surface of monitor 102 (for example a rear projec-
`tion TV of60 inch diagonal screen size) with display screen
`103 facing the user, are connected to PC computer 106 (inte-
`grated in this case into the monitor housing), for example a
`400 Mhz PentiumI]. For appearances andprotection a single
`extensive cover window may be used to cover both cameras
`and their associated light sources 110 and 111, typically
`LEDs.
`
`4
`or other delineating geometric indicatorsofthe position ofthe
`eyes and nose, (or some other facial feature such as the
`mouth), and the accuracy ofthe initial imputing ofthe spacing
`of the eyes andtheir respective spacing to the nose. Clearlyif
`a standard humanvalueis used (say foradult, or fora child or
`even by age) some lessening of precisionresults, since these
`spacings are used in the calculation of distance and orienta-
`tion ofthe face of human 167 from the camera 160.
`
`In another generally more photogrammetrically accurate
`case, one might chooseto use four special targets(e.g., glass
`bead retro-reflectors, or orange dots) 180-183 on the object
`185 having knownpositional relationships relative to each
`other on the object surface, such as one inchcenters. Thisis
`shown in FIG. 1C, and may be used in conjunction with a
`pixel addressable camera such as described in FIG. 2 below,
`which allowsoneto rapidly determine the object position and
`orientation and track its movements in up to 6 degrees of
`freedom as disclosed by Pinkney U.S. Pat. No. 4,219,847 and
`technical papers referenced therein. For example, the system
`described above for FIGS. 1 and 2 involving the photogram-
`metric resolution of the relative position of three or more
`known target points as viewed by a camera is knownandis
`described in a paper entitled “A Single Camera Method for
`the 6-Degree of Freedom Sprung Mass Response ofVehicles
`Redirected by Cable Barriers” presented by M. C. van Wijk
`and H. F. L. Pinkney to The Society of Photo-optical Instru-
`mentation Engineers.
`The stereo pair of cameras can also acquire a two view
`stereo image of the scene as well, which can be displayed in
`3D using stereoscopic or auto-stereoscopic means, as well as
`transmitted or recorded as desired.
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`For many applications, a single camera can suffice for
`measurementpurposes as well, such as 160 shown in FIG. 1B
`for example, used for simple 2 dimensional (2D) measure-
`ments in the xy plane perpendicular to the camera axis (z
`axis), or 3D (xyz,roll pitch yaw) where a target grouping,for
`example ofthree targets is used such as the natural features
`formed by the two eyes 164, 165 and nose 166 of a human
`167. These features are roughly at known distances from each
`other, the data from which can be used to calculate the
`approximate position and orientation of the humanface.
`Using for example the photogrammetric technique of
`Pinkney described below, the full 6 degree of freedom solu-
`tion of the human face location and orientation can be
`achieved to an accuracy limited by the ability of the camera
`image processing softwareutilized to determine the centroids
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`In manyapplications of the foregoing invention it is desir-
`The LEDsin this application are typically used to illumi-
`able not just to use a large screen but in fact one capable of
`nate targets associated with any ofthefingers, hand, feet and
`displayinglife size images. This particularly relates to human
`head of the user, or objects such as 131 held by a user, 135
`scaled images, givingalife-like presence to the data on the
`with hands 136 and 137, and head 138. These targets, such as
`screen. In this way the natural response of the user with
`circular target 140 and band target 141 on object 131 are
`motions ofhands, head, arms, etc., is scaled in “real” propor-
`desirably, but not necessarily, retro-reflective, and may be
`tion to the data being presented.
`constituted by the object features themselves (e.g., a finger
`FIG. 2
`tip, such as 145), or by features provided on clothing worn by
`the user (e.g., a shirt button 147 or polka dot 148, or by
`artificial targets other than retroreflectors.
`Alternatively, a three camera arrangementcan be used, for
`example using additional camera 144, to provide added sen-
`sitivity in certain angular and positional relationships. Still
`more cameras can be used to further improve matters, as
`desired. Alternatively, and or in addition, camera 144 can be
`used for other purposes, such as acquire images of objects
`such as persons, for transmission, storage or retrieval inde-
`pendent ofthe cameras used for datumandfeature location
`determination.
`
`This embodiment and others discloses special types of
`cameras useful with the invention. In the first case, that of
`FIG. 2A, a pixel addressable camera such as the MAPP2200
`made by IVP corporation of Sweden is used, which allows
`one to do manythings useful for rapidly determining location
`of objects, their orientation and their motion.
`For example, as shown in FIG. 2A, an approximately cir-
`cular image 201 of a target datum such as 180 on object 185
`ofFIG. 1C may be acquired by scanningthe pixel elements on
`a matrix array 205 on which the image is formed. Such an
`array in the future will have for example 1000x1000 pixels, or
`more (today the largest IVP makes is 512x512. The IVP also
`is not believed to be completely randomly addressable, which
`some future arrays will be).
`Asanillustration, computer 220 determines, after the array
`205 has been interrogated, that the centroid “x, y”ofthe pixel
`elements on which the target image lies is at pixel x=500,
`y=300 Gncluding a sub-fraction thereof in many cases). The
`centroid location can be determined for example by the
`moment method disclosed in the Pinkney patent, referenced
`above.
`Thetarget in this case is defined as a contrasting point on
`the object, and such contrast can be in color as well as, or
`instead of, intensity. Or with some added preprocessing,it can
`be a distinctive pattern on the object, such as a checkerboard
`or herringbone.
`
`GTP_00000834
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`

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`US 7,933,431 B2
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`5
`
`Subsequent Tracking
`To subsequently track the movementofthis target image,it
`is now only necessary to look in a small pixel window com-
`posed of a small number of pixels around the target. For
`example the square 230 shown,as the new position x'y' ofthe
`target image cannotbe further distant within a short period of
`time elapsed fromthe first scan, and in consideration ofthe
`small required time to scan the window.
`For example, if the window is 100x100 pixels,this can be
`scanned in 1 millisecond or less with such a pixel addressing
`camera, by interrogating only those pixels in the window,
`while still communicating with the camera overa relatively
`slow USBserial link of 12 mb transmissionrate (representing
`12,000 pixel gray level values in one millisecond).
`One thus avoids the necessity to scan the whole field, once
`the starting target image position is identified. This can be
`known byan initial scan as mentioned, or can be known by
`having the user move an object with a target against a known
`location with respect to the camera such as a mechanical stop,
`and then indicate that tracking shouldstart either by verbally
`saying so with voice recognition,or by actuating a control key
`such as 238 or whatever.
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`Itis noted thatifthe tracking window is madelarge enough,
`then it can encompass a whole group of datums, such as
`180-183 on anobject.
`FIG. 2B Reduction in Acquisition Time
`Another application of such a pixel addressing camera is
`shown in FIG. 2B. One can lookat the whole field, x y of the
`camera, 240, but only address say every 10” pixel suchas
`250, 251 and 252, in each direction, i.e., for a total 10,000
`pixels in a field of 1 million (1000x1000, say).
`In this case computer 220 simply queries this fraction ofthe
`pixels in the image, knowingapriorithat the target image such
`as 260 will have an imagesize larger than 10x10 pixels, and
`must be detectable, if of sufficient contrast, by one of the
`queried pixels. (For smaller or larger target images, the num-
`ber and spacing of queried pixels can be adjusted accord-
`ingly). This for example, allows one to find approximate
`locationof targets with only oo the pixel interrogation time
`otherwise needed, for example, plus any gain obtained as
`disclosed above, by knowing in what region of the image to
`look (for example during tracking, or given some apriori
`knowledge of approximate location due to a particular aspect
`ofthe physical arrangementor the program in question).
`Once a target has been approximately found as just
`described, the addressing can be optimized forthat region of
`the image only, as disclosed in subsequent tracking section
`above.
`Given the invention, the potential for target acquisition ina 5
`millisecond or two thus is achievable with simple pixel
`addressable CMOS cameras coming on stream now (today
`costing under $50), assuming the target points are easily
`identifiable from at least one of brightness (over a value),
`contrast (with respect to surroundings), color, color contrast,
`and more difficult, shape or pattern (e.g., a plaid, or herring-
`boneportion ofa shirt). This has major ramificationsfor the
`robustness of control systems built on such camera based
`acquisition, be they for controlling displays, or machines or
`whatever.
`It’s noted that with new 2000x2000 cameras coming on
`stream, it may only be necessary to look at every 15” or 20”
`pixel in each direction to get an adequate feel for target
`location. This means every 200” to 400”pixel, not enough to
`cause imagerendition difficulties even iftotally dark grey (as
`it might be in a normal white light image if set up for IR
`wavelengths only).
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`FIG, 2C
`Another methodfor finding the target in the first place with
`limited pixel interrogation is to look at pixels near a home
`point where a person for example indicates thatthetargetis.
`This could be for example, placing ones fingernail such as
`270, whose natural or artificial (e.g., reflective nail polish)
`features are readily seen by the camera 275 and determined to
`be in the right corner ofa pad 271 in FIG. 2C which approxi-
`mately covers the field of view 274 of the camera 275. The
`computer 220 analyzesthe pixels in the right corner 278 ofthe
`image field 279 representing the pad portion 271 with the
`camera 275, either continuously, or only when the finger for
`example hits a switch such as 280 at the edge of the pad, or on
`command(e.g., by the user pushing a buttonor key,or a voice
`message inputted via microphone 285 for example). After
`such acquisition, the target is then tracked to other locations in
`xy spaceofthe pad, for example as described above. Its noted
`that it helps to provide a beep or other sound or indication
`whenacquisition has been made.
`Pick Windowsin Real Time
`Anotheraspectofthe invention is that one can also pick the
`area of the imageto interrogate at any desired moment. This
`can be done by creating a windowofpixels with in thefield to
`generate information, fer example as discussedrelative to a
`specific car dashboard application of FIG. 10.
`FIG. 2D--Scan Pattern
`A pixel addressing camera also allows a computer such as
`220 to cause scans to be generated whichare not typical raster
`scans. For example circular or radial, or even odd shapes as
`desired. This can be done by providing from the computer the
`sequential addresses of the successive pixels on the camera
`chip whose detected voltages are to be queried.
`A circular scan of pixels addressed at high speed can be
`used to identify when and where a target enters a field
`enclosed by the circular pixel scan. This is highly useful, and
`after that, the approximate location ofthe target can be deter-
`mined by further scans of pixels in the target region.
`For example consider addressing the pixels cl c2.c3... cn
`representing a circle 282 at the outer perimeterofthe array,
`285, of 1000x1000 elements such as discussed above. The
`numberof pixels in a full circle is approximately 1000 pi,
`which can be scanned even with USB (universal serial bus)
`limits at 300 times per second or better. For targets of “ico
`field in width, this meansthata target image entering the field
`suchascirculartarget image 289 (whichis shownintersecting
`element cm and its neighbors) would haveto travel Yoo the
`field width in 0.0033 seconds to be totally missed in a worst
`case. Ifthe imagefield corresponds to 20 inchesin objectfield
`width this is 0.2 inchesx300/sec or 60 inches/second, very
`fast for human movement, and not likely to be exceeded even
`where smaller targets are used.
`Alternative shapes to circular “trip wire” perimeters may
`be used, such as squares, zig-zag, or other layoutsof pixelsto
`determine target presence. Once determined, a group of pix-
`els such as group 292 can be interrogated to get a better
`determination of target location.
`FIG. 3
`Since many applications of the invention concern, or at
`least have present a human caused motion, or motion ofa part
`of a human,or an object moved by a human,the identification
`and tracking problem can be simplified if the features of
`interest, either naturalorartificial of the object provide some
`kind of change in appearance during such motion.
`FIG.3 illustrates tracking embodiments of the invention
`using intensity variation to identify and/ortrack objecttarget
`datums. In a simple case, a subtraction of successive images
`canaid in identifying zones in an image having movement of
`
`GTP_00000835
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`

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`US 7,933,431 B2
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`7
`features as is well known.It is also useful to add pixel inten-
`sities ofsuccessive images in computer 220 for example. This
`is particular true with bright targets (with respect to their
`usual surroundings) such as LEDsorretro-reflectors. If the
`pixels in use by the cameraare able to gather light preferen-
`tially at the same timea special illumination light is on, this
`will accentuate the target with respect to background. And if
`successive frames are taken in this way, not only will a sta-
`tionary image of the special target build up, but if movement
`takes place the target image then will blur in a particular
`direction whichitself can becomeidentify-able. And the blur
`direction indicates direction of motion as well, at least in the
`2-Dplane ofthe pixel array used.
`Another form of movement can take place artificially,
`wherethe target is purposely movedto provide an indication
`ofits presence. This movementcan be done by a human easily
`by just dithering ones finger for example (if a portion of the
`finger such asthetip is the target in question), or by vibrating
`an object having target features ofinterest onit, for example
`by moving the object up and down with ones hand.
`For example consider FIG. 3A, where a human 301 moves
`his finger 302 in a rapid up and down motion, creating differ-
`ent image positions sequentially in time of bright target ring
`320, 320' on his finger, as seen by camera 325. If the camera
`can read quickly enougheach ofthese positions such as 326
`and 327 in imagefield 328 can be resolved, other wise a blur
`image such as 330 is registered on the camera and recorded in
`the computer 335.
`Instead of using ones finger, it is also possible to create
`movementof a target for example with a tuning fork or other
`mechanism mechanically energizing the targetmovement, on
`what otherwise mightbe a static object say. Andit is possible
`for the human, or a computer controlling the movement in
`question to create it in such a mannerthatit aids identifica-
`tion. For example, a certain number of movesof ones finger
`(e.g., 4), or 2 moves/sec ofonesfinger, or horizontal moves of
`ones finger etc., any or all of these could indicate to the
`computer upon analysis ofthe camera image,that a target was
`present.
`The invention comprehendsthis as a method for acquiring
`the datum to be trackedin thefirst place, and has provided a
`camera mechanism for tracking fast enough notto lose the
`data, assuming a sufficiently distinct feature. For example,it
`is desirable to not require sophisticated image processing
`routines andthe like if possible, to avoid the timeit takes to
`execute same with affordable equipment. And yet in many
`scenes, finding a target cant be done easily today without
`someaid, either a high contrast target (contrasting brightness
`or color or both, for example). Or the aid can be movementas
`noted, which allows t