公开(公告)号：US10809797B1

公开(公告)日：2020-10-20

申请号：US16534674

申请日：2019-08-07

Applicant: Finch Technologies Ltd.

Inventor： Alexey Ivanovich Kartashov ,  Viktor Vladimirovich Erivantcev ,  Alexander Sergeevich Lobanov ,  Iakov Evgenevich Sergeev ,  Daniil Olegovich Goncharov ,  Roman Tagirovich Karimov

IPC: G06F3/01

Abstract: A system including a computing device receiving a first indication, the first indication indicating that a plurality of sensor modules are positioned in placeholders in a container device, wherein the placeholders are configured to hold the plurality of sensor modules at pre-determined positions and orientations in the container device. In response to the first indication, the computing device calibrates orientation measurements of the plurality or sensor modules relative to a first common reference system based on the pre-determined positions and orientations in the container device. The computing device then receives a second indication, the second indication indicating that the sensor modules are positioned on parts of a user; and in response to the second indication, the computing device calibrates the plurality of sensor modules relative to user's reference system aligned with the orientation of the user based on a specific orientation relation between the arm sensor module and the orientation of the user, wherein the arm sensor module is one of the plurality of sensor modules.

公开(公告)号：US20190332171A1

公开(公告)日：2019-10-31

申请号：US16508249

申请日：2019-07-10

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Rustam Rafikovich Kulchurin ,  Alexander Sergeevich Lobanov ,  Iakov Evgenevich Sergeev ,  Alexey Ivanovich Kartashov

IPC: G06F3/01 ,  G06F3/0346 ,  A63F13/212 ,  A63F13/235 ,  A63F13/211

Abstract: A system including: a first sensor module having an inertial measurement unit and attached to an upper arm of a user, the first sensor module generating first motion data identifying an orientation of the upper arm; a second sensor module having an inertial measurement unit and attached to a hand of the user, the second sensor module generating second motion data identifying an orientation of the hand; and a computing device coupled to the first sensor module and the second sensor module through communication links, the computing device calculating, based on the orientation of the upper arm and the orientation of the hand, an orientation of a forearm connected to the hand by a wrist of the user and connected to the upper arm by an elbow joint of the user.

公开(公告)号：US20190212807A1

公开(公告)日：2019-07-11

申请号：US15864860

申请日：2018-01-08

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Rustam Rafikovich Kulchurin ,  Alexander Sergeevich Lobanov ,  Iakov Evgenevich Sergeev ,  Alexey Ivanovich Kartashov ,  Daniil Olegovich Goncharov

IPC: G06F3/01

Abstract: A system including a plurality sensor modules, each having an inertial measurement unit and attached to a portion of a user (e.g., upper arm, hand, and/or head) to measure the current orientation of the corresponding portion of the user. A computing device coupled to the sensor modules is configured to identify a type of the current pose of the user, compute a front facing direction of the torso of the user from the sensor measurements, select a torso leaning model based on the pose type, project onto a vertical plane the lengthwise directions of the arms of the user as tracked by the sensor modules attached to the upper arms of the user, and calculate a torso leaning angle from the projected lengthwise directions of the arms.

公开(公告)号：US20190212359A1

公开(公告)日：2019-07-11

申请号：US15868745

申请日：2018-01-11

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Alexander Sergeevich Lobanov ,  Alexey Ivanovich Kartashov ,  Daniil Olegovich Goncharov

IPC: G01P21/00 ,  G06T7/70

CPC classification number: G01P21/00 ,  G06T7/70 ,  G06T2207/30208

Abstract: A system including: a plurality of sensor modules having inertial measurement units and attached to different parts of a user (e.g., head, hands, arms) to measure their orientations; a plurality of optical marks attached to the user; a camera attached to the user; and a computing device configured to correct an accumulated error by detecting the optical marks in an image generated by the camera and identifying mismatches in directions of the optical marks (or the sensors, or parts of the users) as measured and/or calculated based on the image and the corresponding directions of the optical marks (or the sensors, or parts of the users) as measured and/or calculated from the orientation measurements generated by the sensor modules.

公开(公告)号：US20210041476A1

公开(公告)日：2021-02-11

申请号：US16983566

申请日：2020-08-03

Applicant: Finch Technologies Ltd.

Inventor： Alexey Ivanovich Kartashov ,  Viktor Vladimirovich Erivantcev ,  Alexander Sergeevich Lobanov ,  Roman Tagirovich Karimov ,  Alisa Vadimovna Semenova

IPC: G01P21/00 ,  G06F1/16 ,  G06F3/01 ,  G01C25/00

Abstract: A method including receiving, in a computing device, periodic measurements of accelerations from a plurality of sensor modules. The computing device determines whether each respective sensor module of the sensor modules is attached to a respective part of a user from the periodic measurements of accelerations from the plurality of sensor modules as received. In response to the determination that each respective sensor module of the sensor modules is attached to the respective part of the user, the method includes initiating, by the computing device, a calibration operation to calibrate orientation measurements of the sensor modules relative to a common reference system defined based on an orientation of the user.

公开(公告)号：US10860091B2

公开(公告)日：2020-12-08

申请号：US16827573

申请日：2020-03-23

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Alexander Sergeevich Lobanov ,  Alexey Ivanovich Kartashov ,  Daniil Olegovich Goncharov

IPC: G06F3/01 ,  G06N3/04 ,  G06F3/0346 ,  G06N3/08

Abstract: A system having sensor modules and a computing device. Each sensor module has an inertial measurement unit attached to a portion of a user to generate motion data identifying a sequence of orientations of the portion. The sensor modules include a first subset and a second subset that share a common sensor module. The computing device provides orientation measurements generated by the first subset as input to a first artificial neural network to obtain at least one first orientation measurement of the common module, provides orientation measurements generated by the second subset as input to a second artificial neural network to obtain at least one second orientation measurement of the common module, and generates, a predicted orientation measurement of the common module by combining the at least one first orientation measurement of the common module and the at least one second orientation measurement of the common module.

公开(公告)号：US10521011B2

公开(公告)日：2019-12-31

申请号：US15847669

申请日：2017-12-19

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Ravil Salavatovich Shafikov ,  Alexander Sergeevich Lobanov ,  Iakov Evgenevich Sergeev ,  Alexey Ivanovich Kartashov ,  Daniil Olegovich Goncharov

IPC: G06F3/01 ,  G06T7/70

Abstract: A system including: a sensor module having an inertial measurement unit and attached to the head of a user. The sensor module is initially calibrated to measure its orientation relative a reference pose. To recalibrate the sensor module according to a calibration pose, a camera of the sensor module is used to capture an image of at least one optical mark (e.g., configured on devices held in hands in the calibration pose in front of the user). A direction identified from the image is rotated according to the rotational transformation between the reference pose and the calibration pose measured by the sensor module and then projected on to a horizontal plane relative to the reference pose. The angle in the horizontal plane between the projected direction and the front facing direction is used for the calibration of the subsequent orientation measurements of the sensor module.

公开(公告)号：US10509464B2

公开(公告)日：2019-12-17

申请号：US15864860

申请日：2018-01-08

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Rustam Rafikovich Kulchurin ,  Alexander Sergeevich Lobanov ,  Iakov Evgenevich Sergeev ,  Alexey Ivanovich Kartashov ,  Daniil Olegovich Goncharov

IPC: G06F3/01

Abstract: A system including a plurality sensor modules, each having an inertial measurement unit and attached to a portion of a user (e.g., upper arm, hand, and/or head) to measure the current orientation of the corresponding portion of the user. A computing device coupled to the sensor modules is configured to identify a type of the current pose of the user, compute a front facing direction of the torso of the user from the sensor measurements, select a torso leaning model based on the pose type, project onto a vertical plane the lengthwise directions of the arms of the user as tracked by the sensor modules attached to the upper arms of the user, and calculate a torso leaning angle from the projected lengthwise directions of the arms.

公开(公告)号：US20190339766A1

公开(公告)日：2019-11-07

申请号：US15973137

申请日：2018-05-07

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Alexander Sergeevich Lobanov ,  Alexey Ivanovich Kartashov ,  Daniil Olegovich Goncharov

IPC: G06F3/01 ,  G06N3/04 ,  G06N3/067 ,  G06K9/00 ,  G06F3/0346

Abstract: A system having sensor modules and a computing device. Each sensor module has an inertial measurement unit attached to a portion of a user to generate motion data identifying a sequence of orientations of the portion. The computing device provides the sequences of orientations measured by the sensor modules as input to an artificial neural network, obtains as output from the artificial neural network a predicted orientation measurement of a part of the user, and controls an application by setting an orientation of a rigid part of a skeleton model of the user according to the predicted orientation measurement. The artificial neural network can be trained to predict orientations measured using an optical tracking system based on orientations measured using inertial measurement units and/or to prediction orientation measurements of some rigid parts in a kinematic chain based on orientation measurements of other rigid parts in the kinematic chain.

公开(公告)号：US10416755B1

公开(公告)日：2019-09-17

申请号：US15996389

申请日：2018-06-01

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Alexander Sergeevich Lobanov ,  Alexey Ivanovich Kartashov ,  Daniil Olegovich Goncharov

IPC: G06F3/01 ,  G06N3/04 ,  G06N3/08 ,  G06F3/0346

Abstract: A system having sensor modules and a computing device. Each sensor module has an inertial measurement unit attached to a portion of a user to generate motion data identifying a sequence of orientations of the portion. The sensor modules include a first subset and a second subset that share a common sensor module. The computing device provides orientation measurements generated by the first subset as input to a first artificial neural network to obtain at least one first orientation measurement of the common module, provides orientation measurements generated by the second subset as input to a second artificial neural network to obtain at least one second orientation measurement of the common module, and generates, a predicted orientation measurement of the common module by combining the at least one first orientation measurement of the common module and the at least one second orientation measurement of the common module.