[HN Gopher] Show HN: Open-source digital stylus with six degrees...
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Show HN: Open-source digital stylus with six degrees of freedom
Author : jcparkyn
Score : 542 points
Date : 2023-11-12 20:48 UTC (1 days ago)
(HTM) web link (github.com)
(TXT) w3m dump (github.com)
| extraduder_ire wrote:
| Outside tracking with a camera is not something I would have
| thought of. Seems cool.
|
| Reminds me of how sad I am nobody's done a good job of cheaply
| cloning the lighthouse tech that valve/htc use.
| jcparkyn wrote:
| I should point out that I'm not the first person to use camera
| tracking for this [1], but to my knowledge there hasn't
| previously been a serious attempt to combine it with inertial
| or pressure sensors (which are both necessary for competing
| with graphics tablets) or make it open-source.
|
| [1] http://media.ee.ntu.edu.tw/research/DodecaPen/
| two_handfuls wrote:
| Isn't camera tracking + inertial sensors exactly how the
| Oculus Rift headset & controller tracking worked?
| jcparkyn wrote:
| Yes (or something like that, I don't know all the details),
| but they use infra-red light which requires a dedicated
| camera. I think they might also require more than one
| camera (although it is possible to do monocular IR
| tracking).
| mtsr wrote:
| AFAIK you can actually get the sensors used for tracking at
| somewhat OK prices. But iirc the sensors actually do some part
| of the position calculations and as such aren't simple enough
| to be really cheap.
| r2_pilot wrote:
| Yep, they're actually just tiny solar panels! I got several
| trying to figure out how to use the lighthouse system. Not
| enough hours in the day and at the time there wasn't enough
| compute in a small package cheap enough for me.
| charcircuit wrote:
| Too bad this wasn't made as an OpenXR API layer so that it could
| be used with existing software
| noddingham wrote:
| It's open source so...
| ipsum2 wrote:
| The great thing is that its open source, so you can add
| whatever niche APIs you want to it!
| charcircuit wrote:
| Why would I be the one to do that? I already have a pressure
| sensitive 6dof stylus that is compatible with openxr.
|
| OpenXR isn't a niche API when you are dealing with 6dof input
| devices.
| cududa wrote:
| I know this might be shocking, but OP didn't make this for
| you. There's actually all sorts of people out there making
| all sorts of things without considering your specific needs
| charcircuit wrote:
| Why are you using that tone? I never had the intention to
| use this. I am just stating that there is a missed
| opportunity that exists. Why are you implying that I want
| this as feature for me to use?
| jcparkyn wrote:
| I'll chime in and say that OpenXR integration is a good
| suggestion, just not something I had the time/effort to
| implement (this is a university project, after all, and
| was focused more on the core tracking tech). I think
| people just took issue with the way you phrased your
| original comment.
| bloopernova wrote:
| Please don't feed the troll. They're being deliberately
| argumentative.
| grodriguez100 wrote:
| > Why would I be the one to do that?
|
| Because you are the one who is complaining.
| bloopernova wrote:
| Please don't feed the troll. They're picking fights on
| purpose.
| slaucon wrote:
| The rolling shutter compensation is pretty cool and isn't
| something I would have thought of. Did you know that would be an
| issue from the start or notice it only after you built the rest
| of the system?
| jcparkyn wrote:
| I knew it would have an effect (most of the literature for
| similar projects just uses global shutter cameras for this
| reason), but wasn't sure how significant it would be. It turned
| out to be small enough that it usually wasn't super noticeable,
| but in certain cases it really showed up (e.g., rotating the
| pen while keeping the tip in one place).
|
| The thing I was most surprised by was how effective my solution
| was, given that it's a pretty gross approximation of reality.
| There are lots of much more sophisticated techniques for
| dealing with it, which I didn't end up needing.
|
| One thing I would've liked to try out is using rolling-shutter-
| aware PnP [1], which can theoretically estimate pose and
| velocity simultaneously from one image, by exploiting the
| rolling shutter distortions.
|
| [1] https://www-
| sop.inria.fr/members/Philippe.Martinet/publis/20...
| ipsum2 wrote:
| Very cool! It has the added benefit of being able to manipulate
| objects in 3d. How does it compare to graphic tablets in terms of
| accuracy?
| jcparkyn wrote:
| Currently it's not quite at the level of graphics tablets, but
| it's not too far off, and I think there's quite a bit of
| potential to improve it using similar techniques [1].
|
| In terms of absolute accuracy, I measured an average error of
| 0.89mm (for the position of the tip) across the entire area of
| an A4 page with the camera in one place. In practice you have
| more precision than that though, because most of the errors are
| constant biases (not random noise).
|
| For example, here's one of the tests [2] I did for the thesis,
| which compares the recorded stroke to what I actually wrote
| (scanned from carbon paper). After aligning the two captures
| (as a global 2D position offset, everything else is retained),
| the average distance from the recorded stroke to the scan was
| 0.158mm.
|
| [1] This paper (which I linked in another comment) uses some
| more advanced techniques for pose estimation which could
| definitely be applied here (but it's closed-source, and I
| didn't have time to re-implement it from scratch):
| http://media.ee.ntu.edu.tw/research/DodecaPen/
|
| [2] https://github.com/Jcparkyn/dpoint/files/13329235/main-
| sketc...
| moritonal wrote:
| Brings back joyful memories of me begging random Professors
| from around the world over email for the source code of their
| papers.
| abdullahkhalids wrote:
| Nice. It seems there is a systematic error towards the edges
| of the paper, which can easily be fixed in software.
|
| Though it would be nice to do more tests. For example, there
| is some error when drawing sharp corners. It would be
| instructive to see how that changes as you change the angle,
| etc. And how that changes based on location on the paper.
| orbital-decay wrote:
| One thing with using graphic tablets for handwriting and
| drawing in practice is you _really_ want your stylus to be
| thin, lightweight (15-20g), and have either neutral center of
| gravity or balanced towards the tip slightly. Also preferably
| battery-free (non-Wacom tablets were forced to use batteries
| due to patents, not anymore).
|
| Until it's solved, the better practical use for this is
| probably a controller for VR or 3D software.
| tomcam wrote:
| > This project was part of my undergraduate thesis for electrical
| engineering. I
|
| Undergrad! If you didn't get top marks on this there is no
| justice
| jcparkyn wrote:
| Thanks! I'll get results in about two weeks (fingers crossed)
| an_aparallel wrote:
| uni marks != quality :-) I agree with you though.
| cududa wrote:
| I scrolled down to the picture first and the desk made me
| instantly think "ah, a dorm room"
| master-lincoln wrote:
| Why do you think so? When I was doing undergrad, the emphasis
| was on scientific work. So novelty or applicability were not
| important for grades, but if your written communication about
| it was scientific. I didn't see a write-up of this project, so
| I couldn't judge it grade wise
| Naracion wrote:
| I agree, and this is one of the things that are problematic
| with academia. Not that scientific rigor / work /
| dissemination shouldn't be rewarded--it should. But so should
| work like OP's.
| bloopernova wrote:
| Very cool. They've done what I've daydreamed about, and actually
| got it to work!
|
| When I played _Elite: Dangerous_ I used a "hand on throttle and
| stick" (HOTAS) setup, along with foot pedals. I couldn't help but
| think that there must be a better way to control a spaceship:
| your ship can pitch, yaw, and roll in addition to being able to
| fire thrusters in 6 directions.
|
| I wanted a handheld ship model that I could move such that the
| ship in _Elite_ would move in the same way. The linked project
| looks like it could do just that. Thrust would be controlled in a
| similar way, but with my other hand.
|
| Strange or new input models like that are so amazing to me. Our
| imagination can really fly high with these sorts of capabilities.
| squigz wrote:
| This is why 2 sticks is a fairly common setup for space games
| Arelius wrote:
| I still hold onto my SpaceOrb369 for this sort of game. There
| is a guy that makes a converter to make it work over USB...
|
| https://en.m.wikipedia.org/wiki/SpaceOrb_360
|
| https://www.tindie.com/products/vputz/orbotron-9001-version-...
| myself248 wrote:
| I have the slightly newer version, branded by HP as the
| SpacePilot, and use it daily in Fusion 360 CAD. It has a
| native USB connection, and 6 user-definable hotkeys below an
| unimpressive LCD.
|
| It requires some old drivers that aren't officially supported
| (why would they remove support for perfectly good hardware
| from the newer drivers? To send good stuff to the landfill,
| of course!), but when Autodesk tried to move Fusion to the
| new driver model exclusively, user outcry persuaded them to
| leave the old drivers in as an option. Apparently there's
| quite a few of us using those SpacePilots, and the phrase
| "from my cold, dead fingers" comes up not infrequently.
| Arelius wrote:
| For sure, the HP one is a rebrand of the 3Dconnexion right?
|
| Those are great, but nothing really compares to the
| original SpaceOrb360 controller form-factor for gaming IMO.
| myself248 wrote:
| Yup, as far as I can tell the HP one is literally just a
| sticker and a different splash screen when the LCD powers
| up, it's otherwise 100% identical to the 3dconnexion
| original. Just slightly cheaper because of keyword
| search.
|
| I haven't used the SpaceOrb360 but it looks like it would
| be a lot of wrist strain to hold it and use it for long
| periods. But I like the button placement under the right
| hand... hmm.
|
| With the SpacePilot, I have my right hand on the keyboard
| or mouse so I can bind whatever buttons I want, and I
| suppose I could one-hand a regular controller and get
| A/B/X/Y/stick/triggers in my right hand instead. Hmm.
| Would that be easier on the wrists than melding the two
| together? I'm not sure. It would certainly give me more
| buttons to play with...
| w-ll wrote:
| I plugged in my old SpacePilot Pro the other day and was so
| dissapointed that the drivers where so outdated, and like
| nothing was working.
| lowbloodsugar wrote:
| If you weren't playing Descent with this you were losing.
| tadfisher wrote:
| In the sci-fi series _The Expanse_ , the _Rocinante_ is
| controlled in part by a 3DConnexion SpaceMouse, commonly used
| in CAD and 3D modeling.
| pests wrote:
| I always imagined a sphere suspended / held by a minimum number
| of strings (or rods?) / attachments. By physically pushing,
| pulling, and twisting the sphere you could detect these
| movements via compression and tension in the attachments. You
| could motorize those strings/rods to give resistence and
| feedback to the piloting.
| bloopernova wrote:
| Yeah that's almost exactly what I was daydreaming of! Weaker
| gyroscopes might mean a ship can rotate in one direction
| slower than others, and feedback to a controller could model
| that for the user.
| navane wrote:
| this 6dof "joystick" has been around for decades:
| https://3dconnexion.com/nl/spacemouse/
| two_handfuls wrote:
| This. Sadly the drivers suck.
| Isthatablackgsd wrote:
| Would it help with scripting macro software such as
| AutoHotKey? I imagine it wouldn't pick up some inputs due
| to proprietary driver.
|
| It have the same issue for my Logitech G600 that it can't
| pick up some inputs. I set up the macros in LGHUB with
| keystrokes (multiple modifiers with keys) and use AHK to
| grab those and expands the capabilities of my G600 than
| what LGHUB offers.
| two_handfuls wrote:
| Exactly, the inputs aren't exposed as extra axes so those
| tools don't see them.
| Isthatablackgsd wrote:
| Could it help if the driver have those axes assigned to a
| different key to allow AHK to pick that up and AHK can
| change it as axes? I done that with my XP-PEN AC-19, I
| assigned the dial wheel to different keys in XP-PEN
| software and AutoHotInterception with AHK to pick that
| up. Then assigned it with wheelup/down depending on what
| active window I am on.
| abe_m wrote:
| There is an opensource driver package for Unix type
| systems[1]. I find them to be pretty reliable. The stock
| Windows drivers do leave something to be desired.
|
| [1] https://spacenav.sourceforge.net/
| radarsat1 wrote:
| I've always found it fascinating that companies that makes
| specialized hardware devices like this lean so hard into
| proprietary _software_ , as if that's the thing that gives
| them the edge on the competition.
|
| If anything the hardware is the hard part to copy and open
| source drivers could do nothing but benefit them and ensure
| wide platform compatibility and longevity, and yet so many
| companies like this insist on closing things up and forcing
| hackers to reverse engineer everything. It's bizarre logic
| to me.
| marcosdumay wrote:
| I've never found an explanation of what exactly is in that.
|
| Is it a track-ball, a rotary encoder, and a 3D stick?
| abe_m wrote:
| I don't know exactly, but using one, it has the sensation
| of using the trackpoint on a Thinkpad. The puck you push,
| pull, and twist to make the motion is a bit springiness.
| The harder to push it, the faster the motion happens in the
| software on screen. When you release, it springs back to
| neutral. The old ones (late 90's vintage) had trouble
| coming back to center, and there was a hot key to rezero it
| if it was starting to drift. The newer ones don't seem to
| have the issue.
| lambda wrote:
| There's a picture on the Wikipedia article:
| https://en.wikipedia.org/wiki/3Dconnexion and there's a
| patent you can look at: https://patents.google.com/patent/U
| S20050172711A1/en?oq=2005...
|
| It's flexible, and there are LEDs and linear optical
| sensors set up with an occluder in between that casts a
| shadow (or passes a light through a slit, according to the
| patent). The sensor detect where along the sensor the
| shadow or light falls, which indicates how much you have
| translated or rotated the control in a particular axis.
| Doxin wrote:
| Imagine a 3-axis joystick that can also sense translation.
| So aside from pitch/roll/yaw you also get the linear up-
| down/left-rigth/forward-back axises.
| imsaw wrote:
| I can see how pitch roll yaw would work, but I can't
| imagine how linear movements are made on the same
| joystick? Maybe up and down is push and pull but what
| about the other directions? Do you push the device
| itself?
| numpad0 wrote:
| Looks like current incarnation is Stewart platform
| lookalike optical setup for all axes[1]. I misspoke in a
| different comment: Mine was older SpaceBall 5000 model,
| and it was more like two joysticks joined at the stem.
|
| 1:
| https://www.fictiv.com/teardowns/spacenavigator-3d-mouse-
| tea...
| taeric wrote:
| The trick in comparing it to a joystick is that it can
| distinguish between tilting the control to a side, and
| pushing the control to the side. Does that help?
| Similarly, it can detect pushing straight down and
| pulling straight up.
| numpad0 wrote:
| It's a knob that spring back to its origin when let go,
| that can move ~45 degrees or ~1/4" each axes(subjectively).
| It feels a bit like those old bobbing dashboard toy in
| hand.
|
| Mechanically, it's something like an Rx/Rz two-axis
| joystick with sliding knob part on top that can be slid in
| X/Y, pushed/pulled in Z and twisted in Ry as well. All axes
| are spring centered.
| RF_Savage wrote:
| And it works surprisingly well for Descent. The original
| 3dconnexion one worked first try on linux too.
| oceanghost wrote:
| Yup. Use one every day for Fusion360 and Blender.
| matheusmoreira wrote:
| > I couldn't help but think that there must be a better way to
| control a spaceship
|
| Two sticks?
|
| https://old.reddit.com/r/EliteDangerous/comments/16xi20a/dua...
|
| https://youtu.be/T2-IHgNYaKA
| jessriedel wrote:
| Yep. I played Descent II this way and it was glorious.
| bloopernova wrote:
| That's really nice, before now I hadn't really understood how
| to use 2 sticks, but now it makes sense.
|
| I used a CH Pro throttle, which has enough hats to sort of
| mimic that 2 stick action. Main throttle back forward for
| main engine and retros. A smaller thumb stick/hat for each of
| Y and Z axis.
|
| https://www.chproducts.com/Pro-Throttle-v13-d-719.html
| sundvor wrote:
| That works wonderfully with VKB's STECS, which lets you
| swap physical detent profiles in roughly 20 seconds. So you
| have a forward/backward axis on your throttle with a well
| defined "W" centre point, plus a high quality thumb stick
| for your lateral/vertical thrusters.
|
| (In case anyone is wondering, I transitioned from the
| Warthog throttle with DeltaSim's slew mod with zero issues,
| I find the STECS Standard way more versatile and flexible).
|
| I couple this with a Gunfighter Ultimate stick (V3), and
| Crosswinds pedals, all profile mounted. (My GFU grip has
| twist, but I don't use it.)
|
| When you add TrackIR in my case (or VR for others), there's
| quite a bit of immersion going on! :-)
|
| I play DCS and Star Citizen these days, also used to fly
| Elite Dangerous though. Building the combined quad screen
| workstation / simrig has been a wonderful side project over
| the past few years. ;)
| userbinator wrote:
| Given that a spaceship isn't all that different from a fixed-
| wing aircraft, and the stick + pedals arrangement has become a
| standard for controlling the latter for over a century, I think
| it'd be hard to improve on.
| marcellus23 wrote:
| The difference is that spaceships have thrusters, so they
| have the ability to accelerate up, down, left, or right, in
| addition to all the controls of a fixed-wing aircraft
| (throttle + stick + pedals).
| hooverd wrote:
| With no gravity or drag they're way different.
| lowbloodsugar wrote:
| Do fixed wing aircraft spend a lot of the time going
| backwards? Do they, for example, need to turn around and
| point their engine in the direction of travel in order to
| slow down? If a fixed wing accelerates to 1000mph and then
| rotates it's nose by 90 degrees, how fast is it going and in
| what direction? What about a space craft?
| nkrisc wrote:
| > If a fixed wing accelerates to 1000mph and then rotates
| it's nose by 90 degrees, how fast is it going and in what
| direction?
|
| I don't know how fast, but depending on which axis it
| rotates on and how fast, it may be going in several
| directions at once.
| lowbloodsugar wrote:
| Lol, right?
| mulmen wrote:
| There's an entire rabbit hole of dual stick setups for space
| games. Quack HOSAS to get started.
| bloopernova wrote:
| Ok Quack is adorkable.
|
| What would be the word for "To Kagi"? They use "Fetch" in the
| search field, but it hasn't really stuck with me.
| master-lincoln wrote:
| Why mention the provider instead of using the verb you use
| the provider for? You want to "search" for something.
|
| You wouldn't say I am AT&Ting or AOLing for browsing the
| internet or Honda-ing / Ducati-ing for using the motorcycle
| sillysaurusx wrote:
| One of my fondest memories is when I was 16 or so. I bought a
| 3D mouse (it's like a mouse that you can control by waving it
| around) and taped it onto a hat that said Marines. Then I
| immediately went into CS: Source and got ready to annihilate
| everyone.
|
| I think I played about the same, but it would've been funnier
| if I'd gotten creamed.
|
| The theory was that my head is much more precise than my hands,
| so using a combination of both should improve my aim. It might
| sound like you'll end up looking left and trying to see out of
| the corner of your eye, but in practice the two-mouse system
| ends up working out. I've always wanted to revive the idea for
| modern times, but you end up looking like a huge dork with a
| dildo glued to your head. I like that style though.
|
| Your idea sounds way cool. You should make it!
| pxndxx wrote:
| Modern consoles (and modern controllers I assume) can do this
| "double-input" for aiming, using a joystick and a gyroscope.
| I'm still bad at shooters, but it feels super good. Plus you
| don't look like a huge dork with a dildo glued to your head.
| blechinger wrote:
| The folks at Sublight Dynamics had a really neat product in
| this vein that I was excited about. Seems like the perfect
| flightsim controller. They had trouble getting fully to market.
| Website is still up though so I'm holding out hope!
| Matumio wrote:
| If you like the puzzle of firing thrusters manually, try "DV:
| Rings of Saturn". The game is 2D, but you get six keys to
| individually fire different thruster combos, and a separate key
| to fire the main engine.
|
| Then try staying in control with an unbalanced ship, or after
| you inevitably smashed one of the thrusters into a rock. It's a
| pretty space-nerd game too, they simulate details like reaction
| wheel saturation.
| Terretta wrote:
| > _I couldn 't help but think that there must be a better way
| to control a spaceship: your ship can pitch, yaw, and roll ...
| in 6 directions._
|
| _15 years later and I 'm still convinced that the SpaceOrb 360
| is THE GREATEST GAME CONTROLER OF ALL TIME. See what I did with
| the all cap there? It's the G.O.A.T. and it's a tragedy that it
| lost the battle to "WASD" keyboard and mouse gaming and the
| "two thumbs" style of controller._
|
| _If you 've ever tried a SpaceOrb, you probably already know
| this. If you didn't live through the SpaceOrb's hayday (around
| 1994-5 with the original Quake, and Descent, truly one of the
| greatest games ever) then this post will sound like I'm a
| crotchety old dude trying desperately to relive my the golden
| hour of my youth. Ok, so you got me. What of it? ;)_
|
| https://www.hanselman.com/blog/the-best-controller-for-fps-a...
|
| Degrees of freedom:
| https://hanselmanblogcontent.azureedge.net/WindowsLiveWriter...
|
| I had purchased a box of these when they were going away, and
| sponsored a custom driver. For a while there were other
| solutions available, like OrbShield:
|
| // via SeedStudio:
| https://www.seeedstudio.com/Orbshield-v1-0-kit-p-671.html?qu...
|
| // via Tindie:
| https://www.tindie.com/products/vputz/orbotron-9001-version-...
| lagrange77 wrote:
| 1. Very cool project
|
| 2. Helpful documentation
|
| 3. Nice real world example for the use of a Kalman Filter!
| jimmySixDOF wrote:
| I'm a big fan of all things 6DOF ! Nice work on the hardware and
| computer vision pose work but I am almost more impressed by the
| software surface you are drawing into and able to rotate. Thats
| interesting and could be used with any tangible user interface
| control like a finger slider for the same effect. Good project
| for problem solving skills looks like you nailed it bravo!
|
| Btw the first 6DOF controller I had other (than a hacked WiiMote
| controller as a ir led Bluetooth receiver [1]) was the logitec mx
| air which was ahead of its day [2].
|
| [1]
| https://web.cs.ucdavis.edu/~okreylos/ResDev/Wiimote/MainPage...
|
| [2] https://www.cnet.com/reviews/logitech-mx-air-review/
| tomp wrote:
| Very cool!
|
| Could be useful for robotics / VR as well. One-camera hand
| tracking anyone?
|
| Question: could you use gyro+accel to track pressure as well? Or
| at least "taps"?
|
| Another question: how much does it cost? in particular, the
| pressure sensor...
| jcparkyn wrote:
| 1: You could absolutely use gyro/accel for detecting taps, but
| for proper pressure sensitivity (i.e., changing pressure in the
| middle of a stroke), there's not much you can do except have a
| pressure sensor. It's theoretically possible with a
| sufficiently accurate pose estimate and a springy pen tip, but
| not feasible at the level of accuracy I got.
|
| 2: I paid about $20 AUD for the pressure sensor, but they can
| be had for quite a bit cheaper (~$5 USD) in the US
| (https://www.arrow.com/en/products/hsfpar003a/alps-electric).
| Only problem is they're quite specialized, so not many places
| sell them. The custom PCB was another $10AUD, and the Arduino
| was about $20. There's a full parts list at
| https://github.com/Jcparkyn/dpoint/blob/main/setup-guide.md.
| crazygringo wrote:
| Very cool. The use of a webcam really makes me wonder if there's
| a future where our regular single ~78deg FOV webcams are going to
| be replaced by dual (stereo) fisheye webcams that can:
|
| - Enable all sorts of new UX interactions (gestures with eye
| tracking)
|
| - Enable all sorts of new peripheral interactions (stylus like
| this, but also things like a steering wheel for racing games)
|
| - Enable 3D 180deg filming for far more flexible webcam meetings,
| including VR presence, etc.
|
| The idea of being able to use the entire 3D space in front of
| your computer display as an input method feels like it's coming,
| and using a webcam the way OP describes feels like it's a little
| step in that direction.
| moritonal wrote:
| I'm sadly bearish on this kind of stuff. The Mac touch-panel
| showed that even a context-aware, reactive and fully integrated
| input struggled to break the flow gained by keyboard+mouse.
|
| Even today some people are still on the fence about the new
| fangled mouse!
| two_handfuls wrote:
| The Mac touch bar sucked, that why it didn't gain traction.
| moritonal wrote:
| Likely valid, but can you say why it sucked? And why any
| other input wouldn't struggle with the same faults?
| mjcohen wrote:
| I have an Anker PowerConf 300 webcam which (on Mac or Windows)
| can go up to 115 degrees with the AnkerWork software.
| swanee wrote:
| I thought this was around the corner years ago when Intel and
| partners had RealSense modules being built into laptops but it
| seems like all the players have shifted focus to more
| enterprise and industrial markets.
| westurner wrote:
| Wii Remote (2006), Wiimote Whiteboard (2007), Kinect (2010),
| Leap Motion (2010- Ultraleap (2019)),
|
| There are infrared depth cameras in various phones and laptop
| cameras now.
|
| [VR] Motion controllers:
| https://en.wikipedia.org/wiki/Motion_controller#Gaming
|
| Inertial navigation system:
| https://en.wikipedia.org/wiki/Inertial_navigation_system
|
| Inertial measurement unit :
| https://en.wikipedia.org/wiki/Inertial_measurement_unit :
|
| > _An inertial measurement unit (IMU) is an electronic device
| that measures and reports a body 's specific force, angular
| rate, and sometimes the orientation of the body, using a
| combination of accelerometers, gyroscopes, and sometimes
| magnetometers. When the magnetometer is included, IMUs are
| referred to as IMMUs.[1]_
|
| Moasure does displacement estimation with inertial
| measurement (in a mobile app w/ just accelerometer or also
| compass sensor data?) IIUC: https://www.moasure.com/
|
| /? wireless gesture recognition RSSI: https://scholar.google.
| com/scholar?q=wireless+gesture+recogn...
|
| /? wireless gesture recognition RSSI site:github.com : https:
| //www.google.com/search?q=wireless+gesture+recognition...
|
| Awesome-WiFi-CSI-Sensing > Indoor Localization:
| https://github.com/Marsrocky/Awesome-WiFi-CSI-
| Sensing#indoor...
|
| 3D Scanning > Technology, Applications:
| https://en.wikipedia.org/wiki/3D_scanning#Technology
|
| Are there a limited set of possible-path-corresponding
| diffraction patterns that NIRS (Near-Infrared Spectroscopy)
| could sense and process to make e.g. a magic pencil with
| pressure sensitivity, too?
|
| /q.hnlog "quantum navigation":
| https://news.ycombinator.com/item?id=36222625#36250019 :
|
| > _Quantum navigation maps such signal sources such that
| inexpensive sensors can achieve something like inertial
| navigation FWIU?_
|
| From https://news.ycombinator.com/context?id=36249897 :
|
| > _Can low-cost lasers and Rdyberg atoms e.g. Rydberg
| Technology solve for [space-based] matter-wave
| interferometry?_ [...] _Does a fishing lure bobber on the
| water produce gravitational waves as part of the n-body
| gravitational wave fluid field, and how separable are the
| source wave components with e.g. Quantum Fourier Transform
| /or and other methods?_
|
| Because the digitizer
| westurner wrote:
| > _e.g. a magic pencil with pressure sensitivity, too?_
|
| Wouldn't such a capability also be useful for surgical
| AR/AI, robotics, and training?
| 0x0203 wrote:
| I'm sure you've heard of TrackIR, which can do head tracking
| with some head-mounted reflectors. But without mounting
| anything to your head, the tobii eye tracker can do both head
| and eye tracking completely passively. It seems like adding
| hand/finger gesture controls, and peripherals like stylus,
| mouse, etc... would be an obvious next step, but it doesn't
| look like they or anyone else is doing that.
| mncharity wrote:
| Nice. Especially the fusion.
|
| Some random-ish thoughts from exploring "a laptop keyboard...
| with hand pose, 3D stylus, and touch". Adding buttons yields a 3D
| mouse - but camera coverage can be a pain. Note the body is
| largely empty (and battery could be slimmed) - I could more-or-
| less type while holding a slim chopstick/toothbrush-like stylus
| (even with the markers, and a weirdly big tip). A big tip (sliced
| from a ping-pong ball sized xmas decoration) could slide fairly
| smoothly on a ThinkPad keyboard (and gave room for a less compact
| force sensor, and an extra tip marker). Thin stranded silicone
| ribbon cable can be string-like flexible - I just tethered the
| stylus to an arduino to get started.
|
| Hmm... I wonder what the inertial sensor might make of something
| like a dimpled metal clicker, as a button (or three)?
| sshkey wrote:
| wow, very impressive project! really I love it, I will try to
| build it one definitly.
| ezconnect wrote:
| Add a laser range finder on the camera and retroreflector on the
| pen and we have a cheap implementation of a 3D measuring device.
| wnolens wrote:
| This is really cool, and right out of my dreams.
|
| Since the move to full remote work at my company, I've been
| longing for whiteboard sessions. The best I could conjure up was
| to use an old iPad and load up a shared whiteboarding webapp in a
| browser on both iPad and my desktop, and then share screen from
| my desktop, using a cheapo stylus on the iPad to draw.
|
| It's pretty good, but my iPad is super old and slow. Replacing it
| is not affordable. But a conventional web cam + a relatively low-
| tech stylus would be much better, and drop the need for an
| external device completely.
| abdullahkhalids wrote:
| The cheapest Wacom tablet [1] is 67CAD. Other brands have
| cheaper ones.
|
| [1] https://wacomstore.ca/product/one-by-wacom-small/
| sj4nz wrote:
| Fantastic. I love that this is brand-independent, like buying a
| mechanical keyboard.
| joshuahhh wrote:
| Impressive work! I wonder: is the inertial tracking sufficient to
| cover for occasional occlusion of the markers?
| jcparkyn wrote:
| That depends what you consider "occasional", but for most
| definitions the answer would be no. I'm sure there are better
| ways to handle the inertial measurements than what I did, but
| even so, double integration drift causes errors very very
| quickly. I doubt it'd be possible to go over a second, and my
| implementation struggled with anything over ~150-200ms.
|
| However, it does an impressively good job with low camera frame
| rates. I tested it at 10FPS (discarding every third frame), and
| the results are barely distinguishable from 30FPS. Below that
| it starts having difficulty.
| denton-scratch wrote:
| TFA mentions a gyroscope, but I don't see one in the assembly
| diagram.
| guhidalg wrote:
| I believe the PCB has the IMU built into it along with the BT
| module. https://wiki.seeedstudio.com/XIAO_BLE/
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