1461045614-ebe2893c-3c11-42c1-ba8d-4015bd5fd493

1. A multi-dimensional measuring system comprising:
a tracking unit that emits laser light and performs tracking using spherical coordinates;
a target in communication with the tracking unit, the target being capable of making pitch, yaw, and roll movements;
a distance determining module that determines a distance between the tracking unit and the target; and
an output module that outputs position information about the target relative to the tracking unit based on the spherical coordinates, the pitch, yaw and roll movements, and the distance.
2. The system of claim 1, further comprising an output device that outputs the position information about the target.
3. The system of claim 1, wherein the roll movement is based on at least one of a comparison between a horizontally polarized component of the laser light and a vertically polarized component of the laser light.
4. The system of claim 3, further comprising a first photodetector that detects the horizontally polarized component of the laser light and a second photodetector that detects the vertically polarized component of the laser light.
5. The system of claim 4, further comprising a roll determination circuit that receives an output of the first photodetector and an output of the second photodetector.
6. The system of claim 1, further comprising an electronic level configured to measure roll movements associated with the target.
7. The system of claim 1, wherein the target is an active target that is capable of moving relative to the tracking unit.
8. The system of claim 7, wherein the target is at least one of incorporated into a remote unit, fixably attached to an object, used for feedback control, used for calibration, used for machine tool control, used for parts assembly, used for structural assembly, and used for dimensional inspection.
9. The system of claim 8, wherein the remote unit is a robot.
10. The system of claim 9, wherein the robot comprises a drive system and one or more traction devices that allow the robot to adhere to a surface.
11. The system of claim 10, wherein the traction devices are suction cup type devices.
12. The system of claim 9, wherein the robot comprises a positive air pressure system.
13. The system of claim 8, further comprising a vacuum system.
14. The system of claim 8, further comprising one or more accessories that allow a function to be performed based at least on the position information of the target.
15. A target associated with a multi-dimensional measuring system comprising:
a retro-reflector having an apex, wherein the apex is configured to allow at least part of a laser beam light entering the retro-reflector to exit the retro-reflector; and
a laser light sensor configured to detect the at least part of the laser beam light exiting the retro-reflector through the apex.
16. The target of claim 15, wherein the target is configured to be coupled to an optical measuring sensor.
17. The target of claim 15, wherein the retro-reflector is a hollow retro-reflector.
18. The target of claim 17, wherein the retro-reflector comprises an aperture at the apex, the aperture is configured to allow the at least part of the laser beam light to exit the retro-reflector.
19. The target of claim 17, wherein the retro-reflector comprises three mirrors that form the apex.
20. The target of claim 15, wherein the retro-reflector is a solid retro-reflector.
21. The target of claim 20, wherein the apex comprises a small flat surface polished to allow the at least part of the laser beam light to exit the retro-reflector.
22. The target of claim 15, wherein the laser light sensor is a photodetector.
23. The target of claim 15, wherein the laser light sensor is a charge coupled device array sensor.
24. The target of claim 15, wherein the laser light sensor is operable to detect at least one of the pitch and yaw movements of the target.
25. A method for measuring a position of an object comprising:
monitoring spherical coordinates of a laser light emitting tracking unit;
monitoring pitch, yaw, and roll movements of a target in communication with the tracking unit;
determining a distance between the tracking unit and the target; and
outputting position information about the target relative to the tracking unit based on the spherical coordinates, the pitch, yaw, and roll movements, and the distance.
26. The method of claim 25, wherein the roll movement is based on at least one of a comparison between a horizontally polarized component of a laser light emitted by the tracking unit and a vertically polarized component of the laser light.
27. The method of claim 26, wherein a roll determination circuit performs the comparison between the horizontally polarized component of the laser light and the vertically polarized component of the laser light.
28. The method of claim 25, wherein the target is an active target that is capable of moving relative to the tracking unit.
29. The method of claim 25, wherein target is at least one of incorporated into a remote unit, fixably attached to an object, used for feedback control, used for calibration, used for machine tool control, used for parts assembly, used for structural assembly, and used for dimensional inspection.
30. The method of claim 29, wherein the remote unit comprises a drive system and one or more traction devices that allow the remote unit to adhere to a surface.
31. The method of claim 30, wherein the traction devices are suction cup type devices used in conjunction with a vacuum system.
32. The method of claim 29, wherein the remote unit is remotely controlled.
33. The method of claim 29, further comprising allowing a function to be performed by an accessory based at least on the position information of the target.
34. The method of claim 29, wherein the robot comprises a positive air pressure system.
35. A system for measuring the position of an object comprising:
means for monitoring spherical coordinates of a laser light emitting tracking unit;
means for monitoring pitch, yaw, and roll movements of a target in communication with the tracking unit;
means for determining a distance between the tracking unit and the target; and
means for outputting position information about the target relative to the tracking unit based on the spherical coordinates, the pitch, yaw, and roll movements, and the distance.
36. The system of claim 35, wherein the roll movement is based on at least one of a comparison between a horizontally polarized component of a laser light emitted by the tracking unit and a vertically polarized component of the laser light.
37. The system of claim 36, wherein a roll determination circuit performs the comparison between the horizontally polarized component the laser light and the vertically polarized component of the laser light.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1. A method of processing audio based on spatial position information, the method comprising:
receiving one or more digital signals, each of said one or more digital signals having information about a spatial position of a sound source relative to a listener;
selecting a digital filter based on the spatial position information, the digital filter configured to approximate a head-related transfer function (HRTF), wherein the digital filter is selected from the following:
a first digital filter having a first frequency response comprising a first peak at a first frequency, a second peak at a second frequency higher than the first frequency, a single trough between the first peak and the second peak, a substantially flat response in a first frequency range from 30 Hz to 200 Hz, below a frequency of the first peak, an increasing response from 200 Hz until the first peak, and an attenuating response that attenuates a second frequency range from the second peak until a highest frequency of the first frequency response, and
a second digital filter having a second frequency response comprising a first trough at a third frequency, a second trough at a fourth frequency higher than the third frequency, a substantially flat response in a third frequency range from 30 Hz until 1100 Hz, below a frequency of the first trough, and an emphasizing response that emphasizes a fourth frequency range higher in frequency than the fourth frequency of the second trough; and

applying the selected digital filter to the one or more digital signals so as to produce a left filtered signal and a right filtered signal, each of the left and right filtered signals configured to have a simulated effect of the HRTF applied to the sound source.
2. The method of claim 1, wherein the selected digital filter is configured to use fewer computing resources than would be used by the HRTF to produce location-discriminating sound output to a listener.
3. The method of claim 1, wherein said selecting the digital filter comprises selecting the first or second digital filter based at least in part on a vertical angle of the sound source relative to a listener, wherein the vertical angle is included in the spatial position information.
4. The method of claim 3, wherein said selecting the digital filter comprises:
first selecting the first digital filter in response to determining that the spatial position of the sound source has a zero degree vertical angle or positive vertical angle with respect to a listener; and
selecting the second digital filter subsequent to selecting the first digital filter in response to determining that the spatial position of the sound source has changed to a negative vertical angle with respect to the listener.
5. The method of claim 1, further comprising:
emphasizing the left filtered signal over the right filtered signal in response to determining that the spatial position of the sound source is to the left of a listener; and
emphasizing the right filtered signal over the left filtered signal in response to determining that the spatial position of the sound source is to the right of the listener.
6. The method of claim 1, wherein said selecting the digital filter comprises selecting a version of the first digital filter where the second peak of the first digital filter has a lower magnitude than a magnitude of the first peak of the first digital filter in response to the spatial position of the sound source having a positive vertical angle with respect to the listener.
7. The method of claim 1, wherein said selecting the digital filter comprises selecting a version of the first digital filter where the second peak of the first digital filter has an at least approximately equal magnitude to a magnitude of the first peak of the first digital filter in response to the spatial position of the sound source having a zero degree vertical angle with respect to the listener.
8. The method of claim 1, wherein the first and second peaks of the first digital filter are configured to provide first location-critical frequencies for location discrimination of the sound source, and wherein the first and second troughs of the second digital filter are configured to provide second location-critical frequencies for location discrimination of the sound source.
9. The method of claim 1, wherein the first frequency of the first peak is between 3 kHz and 5 kHz and wherein the second frequency of the second peak is between 10 kHz and 11 kHz.
10. The method of claim 9, wherein the first frequency of the first peak is between 4 kHz and 5 kHz.
11. The method of claim 1, wherein the third frequency of the first trough is between 5 kHz and 7 kHz and wherein the fourth frequency of the second trough is between 10 kHz and 11 kHz.
12. A system for processing audio based on spatial position information, the system comprising:
a filter selection component configured to select a digital filter based on spatial position information of a sound source relative to a listener, the spatial position information being encoded in input audio, the selected digital filter configured to approximate a head-related transfer function (HRTF), wherein the selected digital filter is selected from the following:
a first digital filter having a first frequency response comprising a first peak at a first frequency, a second peak at a second frequency higher than the first frequency, a single trough between the first peak and the second peak, a substantially flat response from 30 Hz to 200 Hz, in a first frequency range below a frequency of the first peak, and an attenuating response that attenuates a second frequency range higher in frequency than the second frequency of the second peak, and
a second digital filter having a second frequency response comprising a first trough at a third frequency, a second trough at a fourth frequency higher than the third frequency, a single peak between the first trough and the second trough, a substantially flat response in a third frequency range from 30 Hz until 1100 Hz, below a frequency of the first trough, and an emphasizing response that emphasizes a fourth frequency range higher in frequency than the fourth frequency of the second trough; and

a filter application component configured to apply the selected digital filter to the input audio so as to produce a left filtered signal and a right filtered signal, each of the left and right filtered signals configured to have a simulated effect of the HRTF applied to the sound source.
13. The system of claim 12, wherein the selected digital filter is configured to use fewer computing resources than would be used by the HRTF to produce location-discriminating sound output to a listener.
14. The system of claim 12, wherein the filter selection component is further configured to select the digital filter by at least selecting the first or second digital filter based at least in part on a vertical angle of the sound source relative to a listener, wherein the vertical angle is included in the spatial position information.
15. The system of claim 14, wherein the filter selection component is further configured to select the digital filter by at least:
selecting the first digital filter in response to determining that the spatial position of the sound source has a zero degree vertical angle or positive vertical angle with respect to a listener; and
selecting the second digital filter in response to determining that the spatial position of the sound source has a negative vertical angle with respect to the listener.
16. The system of claim 12, wherein the filter selection component is further configured to select the digital filter by at least selecting a version of the first digital filter where the second peak of the first digital filter has a lower magnitude than a magnitude of the first peak of the first digital filter in response to the spatial position of the sound source having a positive vertical angle with respect to the listener.
17. The system of claim 12, wherein the filter selection component is further configured to select the digital filter by at least selecting a version of the first digital filter where the second peak of the first digital filter has an at least approximately equal magnitude to a magnitude of the first peak of the first digital filter in response to the spatial position of the sound source having a zero degree vertical angle with respect to the listener.
18. The system of claim 12, wherein the first and second peaks of the first digital filter are configured to provide first location-critical frequencies for location discrimination of the sound source, and wherein the first and second troughs of the second digital filter are configured to provide second location-critical frequencies for location discrimination of the sound source.
19. Non-transitory physical computer storage comprising instructions stored thereon for executing, in one or more processors, components for processing audio based on spatial position information, the components comprising:
a filter selection component configured to select a digital filter based on spatial position information of a sound source relative to a listener, the spatial position information being encoded in input audio, the selected digital filter configured to approximate a head-related transfer function (HRTF), wherein the selected digital filter is selected from the following:
a first digital filter having a first frequency response comprising a first peak at a first frequency, a second peak at a second frequency higher than the first frequency, a single trough between the first peak and the second peak, a substantially flat response in a first frequency range from 30 Hz to 200 Hz, below a frequency of the first peak, and an attenuating response that attenuates a second frequency range higher in frequency than the second frequency of the second peak, and
a second digital filter having a second frequency response comprising a first trough at a third frequency, a second trough at a fourth frequency higher than the third frequency, a single peak between the first trough and the second trough, a substantially flat response in a third frequency range from 30 Hz until 1100 Hz, below a frequency of the first trough, and an emphasizing response that emphasizes a fourth frequency range higher in frequency than the fourth frequency of the second trough; and