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公开(公告)号：US11016116B2
公开(公告)日：2021-05-25
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
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.
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2.发明授权公开(公告)号：US11009941B2
公开(公告)日：2021-05-18
申请号：US16044984
申请日：2018-07-25
Applicant: Finch Technologies Ltd.
Inventor： Viktor Vladimirovich Erivantcev , Alexander Sergeevich Lobanov , Alexey Ivanovich Kartashov , Daniil Olegovich Goncharov , Ratmir Rasilevich Gubaidullin
IPC: G06F3/01 , G06F3/0346 , G06F3/0481 , G06T7/70 , G06T7/00 , G06N5/04 , G06T7/246 , G06N3/04 , G06N3/08
Abstract: A system having a plurality of sensor modules and a stereo camera and a computing device. Each sensor module has an inertial measurement unit (IMU) measuring its orientation relative to a reference orientation. Different IMUs may have different reference orientations. To calibrate the IMUs with respect to a common reference (e.g., defined based on a standardized pose of a user), the stereo camera captures a stereo image of a respective sensor module attached to a respective portion of the user; the inertial measurement unit of the respective sensor module generates an orientation measurement at a time of capturing the stereo image; and the computing device calculates, based on the stereo image, at least one orientation and uses the orientation and the orientation measurement in determining a rotation that calibrates measurements of the inertial measurement unit relative to the common reference.
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公开(公告)号：US20200081534A1
公开(公告)日：2020-03-12
申请号：US16683648
申请日：2019-11-14
Applicant: Finch Technologies Ltd.
Inventor： Viktor Vladimirovich Erivantcev , Rustam Rafikovich Kulchurin , Alexander Sergeevich Lobanov , Iakov Evgenevich Sergeev , Yana Olegovna Gabdullina , Alexey Ivanovich Kartashov
IPC: G06F3/01 , G06F3/038 , G06F3/0354 , G06F3/0346 , A63F13/24 , A63F13/211 , A63F13/235
Abstract: A data input device having inertial sensor units, one or more touch input devices, a microcontroller configured to collect sensor data from the inertial sensors and the one or more touch input devices and process the sensor data to generate processed sensor data, and a wireless transceiver configured to transmit the processed sensor data to a host computer. A method can include: receiving sensor data from a handheld device; calculating hand movement characteristics in three dimensional space based on the sensor data; calculating the position and orientation of the components of the handheld device; identifying positions and movements of one or more fingers of a user manipulating the handheld device; identifying a gesture from the positions and movements of one or more fingers of a user manipulating the handheld device; identifying a recognized gesture corresponding to the identified gesture; and dispatching an event notifying the gesture to an application.
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4.发明申请公开(公告)号：US20200033937A1
公开(公告)日：2020-01-30
申请号：US16044984
申请日：2018-07-25
Applicant: Finch Technologies Ltd.
Inventor： Viktor Vladimirovich Erivantcev , Alexander Sergeevich Lobanov , Alexey Ivanovich Kartashov , Daniil Olegovich Goncharov , Ratmir Rasilevich Gubaidullin
IPC: G06F3/01 , G06F3/0346 , G06F3/0481 , G06N5/04 , G06T7/70 , G06T7/00
Abstract: A system having a plurality of sensor modules and a stereo camera and a computing device. Each sensor module has an inertial measurement unit (IMU) measuring its orientation relative to a reference orientation. Different IMUs may have different reference orientations. To calibrate the IMUs with respect to a common reference (e.g., defined based on a standardized pose of a user), the stereo camera captures a stereo image of a respective sensor module attached to a respective portion of the user; the inertial measurement unit of the respective sensor module generates an orientation measurement at a time of capturing the stereo image; and the computing device calculates, based on the stereo image, at least one orientation and uses the orientation and the orientation measurement in determining a rotation that calibrates measurements of the inertial measurement unit relative to the common reference.
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公开(公告)号：US20180335834A1
公开(公告)日：2018-11-22
申请号：US15813813
申请日：2017-11-15
Applicant: Finch Technologies Ltd.
Inventor： Viktor Vladimirovich Erivantcev , Rustam Rafikovich Kulchurin , Alexander Sergeevich Lobanov , Iakov Evgenevich Sergeev , Alexey Ivanovich Kartashov
CPC classification number: G06F3/012 , B81B7/02 , B81B2201/0235 , B81B2201/0242 , G06F3/011 , G06F3/016
Abstract: A system including: two arm modules each having an inertial measurement unit and attached to an upper arm of a user to measure the current orientations of the upper arms of the user; a head module having an inertial measurement unit and attached to the head of the user to measure the current orientation of the head; and a computing device coupled to the arm modules and the head module to calculate, based on the current orientations of the upper arms and the current orientation of the head, the current orientation of the torso of the user.
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Patent Agency Ranking
公开(公告)号：US11175729B2
公开(公告)日：2021-11-16
申请号：US16576672
申请日：2019-09-19
Applicant: Finch Technologies Ltd.
Inventor： Viktor Vladimirovich Erivantcev , Alexey Ivanovich Kartashov , Alexander Sergeevich Lobanov , Daniil Olegovich Goncharov , Ratmir Rasilevich Gubaidullin , Ravil Rustemovich Kurbanaev , Alexey Andreevich Gusev
Abstract: A system to track orientations of parts of a user based on both images and inertial measurement units (IMUs). For example, the system receives images showing a portion of the user wearing sensor modules. The system receives a first set of orientation measurements generated by the sensor modules attached to some parts of the user. The system determines the second set of orientation measurements of one or more features of the portion of the user from the images. The system provides the first set of orientation measurements and the second set of orientation measurements as input to an artificial neural network that is configured to predict orientation measurements of the one or more other parts of the user that would be measured by additional sensor modules if the additional sensor modules were to be attached to the other parts of the user.
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公开(公告)号：US11009964B2
公开(公告)日：2021-05-18
申请号：US16433619
申请日：2019-06-06
Applicant: Finch Technologies Ltd.
Inventor： Viktor Vladimirovich Erivantcev , Alexander Sergeevich Lobanov , Alexey Ivanovich Kartashov , Daniil Olegovich Goncharov , Ratmir Rasilevich Gubaidullin , Alexey Andreevich Gusev
Abstract: A system including a plurality of sensor modules, each module having an inertial measurement unit (IMU) and being attached to a respective body 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 that a user is at a predefined pose, which the predefined pose of the user is representative of the forearms and the upper arms of the user lying in a horizontal plane. A head mount display (HMD) attached to a head of the user using a camera to generate camera data, the HMD calculating the first length using the camera data, and the first length is calculated as corresponds to a distance between hands of the user and shoulders of the user; the computing device determining one or more lengths of one or more bones of the user based on the first length and the plurality of orientations of arm bones of the user at the predefined pose.
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公开(公告)号：US10705113B2
公开(公告)日：2020-07-07
申请号：US15817646
申请日：2017-11-20
Applicant: Finch Technologies Ltd.
Inventor： Viktor Vladimirovich Erivantcev , Rustam Rafikovich Kulchurin , Ravil Salavatovich Shafikov , Alexander Sergeevich Lobanov , Iakov Evgenevich Sergeev , Alexey Ivanovich Kartashov
Abstract: A system including: a sensor module having an inertial measurement unit and attached to an arm of a user. The sensor module is initially calibrated to measure its orientation relative an initial reference pose. To recalibrate the sensor module, the arm of the user is moved to obtain a measurement of an orientation of the arm at a calibration pose relative to the reference pose. The arm is in a horizontal plan in both the calibration pose and the reference pose. Preferably, both arms are straight in the horizontal plane; and the hands meet each other at the calibration pose. The arm module may have twisted around the arm of the user from the time of the initial calibration and the time of recalibration. A twist of the arm module around the arm of the user is computed from the orientation measurement at the reference pose for recalibration.
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公开(公告)号：US10534431B2
公开(公告)日：2020-01-14
申请号：US15792255
申请日：2017-10-24
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 , A63F13/211 , A63F13/212 , A63F13/235
Abstract: A system including: a first sensor module having an inertial measurement unit and attached to a palm of a hand of a user; a second sensor module having an inertial measurement unit and attached to a first bone of a finger (e.g., a middle or proximal phalange bone) on the palm; and a computing device coupled to the first sensor module and the second sensor module to calculate, based on the orientation of the palm and the orientation of the first bone, orientations of the second bones of the finger (e.g., a distal or proximal phalange bone, a metacarpal bone of the thumb) that have no separately attached inertial measurement unit, according to a predetermined ratio of rotation from a reference orientation along a same axis of rotation.
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10.发明申请公开(公告)号：US20180313867A1
公开(公告)日：2018-11-01
申请号：US15817646
申请日：2017-11-20
Applicant: Finch Technologies Ltd.
Inventor： Viktor Vladimirovich Erivantcev , Rustam Rafikovich Kulchurin , Ravil Salavatovich Shafikov , Alexander Sergeevich Lobanov , Iakov Evgenevich Sergeev , Alexey Ivanovich Kartashov
Abstract: A system including: a sensor module having an inertial measurement unit and attached to an arm of a user. The sensor module is initially calibrated to measure its orientation relative an initial reference pose. To recalibrate the sensor module, the arm of the user is moved to obtain a measurement of an orientation of the arm at a calibration pose relative to the reference pose. The arm is in a horizontal plan in both the calibration pose and the reference pose. Preferably, both arms are straight in the horizontal plane; and the hands meet each other at the calibration pose. The arm module may have twisted around the arm of the user from the time of the initial calibration and the time of recalibration. A twist of the arm module around the arm of the user is computed from the orientation measurement at the reference pose for recalibration.
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