DETAILED ACTION
Notice of Pre-AIA or AIA Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Comments
The Preliminary Amendment filed on February 23, 2024 has been entered and made of record.
Claim Rejections - 35 USC § 112
The following is a quotation of 35 U.S.C. 112(b):
(b) CONCLUSION.—The specification shall conclude with one or more claims particularly pointing out and distinctly claiming the subject matter which the inventor or a joint inventor regards as the invention.
The following is a quotation of 35 U.S.C. 112 (pre-AIA ), second paragraph:
The specification shall conclude with one or more claims particularly pointing out and distinctly claiming the subject matter which the applicant regards as his invention.
Claim 12 is rejected under 35 U.S.C. 112(b) or 35 U.S.C. 112 (pre-AIA ), second paragraph, as being indefinite for failing to particularly point out and distinctly claim the subject matter which the inventor or a joint inventor (or for applications subject to pre-AIA 35 U.S.C. 112, the applicant), regards as the invention.
Claim 12 recites the limitation “wherein, before using a PnP algorithm” in line 2. There is insufficient antecedent basis for this limitation in the claim. The usage of a PnP algorithm is firstly introduced in claims 2, 3 and 6, none of which claim 12 depend upon.
Appropriate correction is required.
Allowable Subject Matter
Claims 1-11 and 13-20 are allowed.
Claim 12 would be allowable if rewritten to overcome the rejection(s) under 35 U.S.C. 112(b) or 35 U.S.C. 112 (pre-AIA ), 2nd paragraph, set forth in this Office action and to include all of the limitations of the base claim and any intervening claims.
The following is a statement of reasons for the indication of allowable subject matter: the closest prior art made of record (See for example, Steedly et al. (U.S. Pub. No. 2018/0329516) teaches the determination of a pose of a first device with respect to a second device (See for example, “the poses of a HMD and a handheld controller may be tracked as the devices are moved through space by a user to provide inputs to control a user interface of the HMD”, Paragraph [0032]), by matching pixel locations in an image to three-dimensional coordinate frame system in space (See for example, Paragraph [0052]). However, Steedly et al. fails to disclose the usage of 3D points on a 3D model of a second device to perform a feature matching in order to obtain a first correspondence between at least three non-collinear 2D points of the second device and the 3D points on the 3D model of the second device, as claimed, in addition to the features claimed.
Therefore, the closest prior art made of record fails to disclose, teach, and/or suggest, inter alia, the determination of a pose of a first device in a world coordinate system, by at least, capturing a device image of a second device, the device image comprising 2D points of the second device and descriptors corresponding to the 2D points, performing feature point matching between the 2D points of the second device and 3D points on a 3D model of the second device using descriptors corresponding to the 3D points on the 3D model of the second device and the descriptors corresponding to the 2D points, to obtain a first correspondence between at least three non-collinear 2D points of the second device and the 3D points on the 3D model of the second device, the 3D model of the second device comprising 3D points and descriptors corresponding to the 3D points, determining a localization of the 3D model of the second device in a world coordinate system according to a localization of the second device in the world coordinate system and a second correspondence between the second device and the 3D model, and determining the pose of the first device in the world coordinate system according to the localization of the 3D model of the second device in the world coordinate system and the first correspondence, as claimed.
Conclusion
The prior art made of record and not relied upon is considered pertinent to Applicant’s disclosure:
Chornenky disclose the determination of spatial information about environment;
Steedly et al. disclose the tracking of wearable devices and handheld object poses;
Xu et al. disclose simultaneous localization and mapping;
Muhlethaler et al. disclose a cross reality system for large scale environments;
Ma et al. disclose a method for tracking a head mounted display;
Qiu et al. disclose the tracking of a pose of an object in a field of view of a camera;
Urfalioglu disclose an image processing arrangement for estimating a likely pose relative to a spatial region; and
Grundmann et al. disclose a probabilistic measurement model for local interest point based 6 DOF pose estimation.
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/JOSE M TORRES/Examiner, Art Unit 2664 01/07/2026