US 11,914,792 B2
Systems and methods of tracking moving hands and recognizing gestural interactions
Kevin A. Horowitz, San Francisco, CA (US); Matias Perez, San Francisco, CA (US); Raffi Bedikian, San Francisco, CA (US); David S. Holz, San Francisco, CA (US); and Gabriel A. Hare, Daly City, CA (US)
Assigned to Ultrahaptics IP Two Limited, Bristol (GB)
Filed by Ultrahaptics IP Two Limited, Bristol (GB)
Filed on Feb. 17, 2023, as Appl. No. 18/111,089.
Application 18/111,089 is a continuation of application No. 17/189,152, filed on Mar. 1, 2021, granted, now 11,586,292.
Application 17/189,152 is a continuation of application No. 16/588,876, filed on Sep. 30, 2019, granted, now 10,936,082, issued on Mar. 2, 2021.
Application 16/588,876 is a continuation of application No. 15/989,090, filed on May 24, 2018, granted, now 10,429,943, issued on Oct. 1, 2019.
Application 15/989,090 is a continuation of application No. 15/728,242, filed on Oct. 9, 2017, granted, now 9,983,686, issued on May 29, 2018.
Application 15/728,242 is a continuation of application No. 14/712,699, filed on May 14, 2015, granted, now 9,785,247, issued on Oct. 10, 2017.
Claims priority of provisional application 61/996,778, filed on May 14, 2014.
Prior Publication US 2023/0205321 A1, Jun. 29, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G09G 5/00 (2006.01); G06F 3/01 (2006.01); G06F 3/03 (2006.01); G06T 7/20 (2017.01); G06T 19/00 (2011.01); H04N 13/296 (2018.01); G06F 3/0346 (2013.01); G06V 40/20 (2022.01); G06V 40/10 (2022.01); G06T 7/246 (2017.01); G01S 3/00 (2006.01)
CPC G06F 3/017 (2013.01) [G01S 3/00 (2013.01); G06F 3/011 (2013.01); G06F 3/0304 (2013.01); G06F 3/0346 (2013.01); G06T 7/20 (2013.01); G06T 7/251 (2017.01); G06T 19/006 (2013.01); G06V 40/113 (2022.01); G06V 40/28 (2022.01); H04N 13/296 (2018.05); G06T 2207/10016 (2013.01); G06T 2207/30196 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method of determining a gesture performed by the at least a portion of a hand in three dimensional (3D) sensory space, the method comprising:
determining a variance between a point on a set of observation information based on an image captured at time t1 and a corresponding point on at least one of a set of 3D capsules fitted to another set of observation information based on an image captured at time t0 by:
pairing point sets from points on a surface of the observation information with points on the 3D capsules, wherein normal vectors to points on the set of observation information are parallel to normal vectors to points on the 3D capsules; and
determining the variance comprising a reduced root mean squared deviation (RMSD) of distances between paired point sets; and
responsive to the variance, adjusting the 3D capsules; and
determining a gesture performed by the at least a portion of a hand based on the 3D capsules as adjusted; and
providing the gesture determined.