Model registration system and method
First Claim
1. A system for registering a coordinate system associated with a pre-acquired model of an object, with a reference coordinate system, the system comprising:
- a portable unit including;
a display; and
an optical detection assembly for acquiring at least one image of at least one marker located on said object;
a tracking system for tracking said portable unit in said reference coordinate system; and
a processor, coupled with said portable unit and with said tracking system, said processor configured to determine a position and orientation of said portable unit in said reference coordinate system, said processor further configured to determine a position of said at least one marker located on said object in said reference coordinate system, according to position related information determined from said at least one image, said processor further configured to display registration related information on said display, at least one of said registration related information and a display location of said registration related information being related to the position and orientation of said portable unit in said reference coordinate system,wherein the position of said at least one marker in said coordinate system associated with a pre-acquired model of said object is predetermined.
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Accused Products
Abstract
System for registering a coordinate system associated with a pre-acquired model of an object with a reference coordinate system. The system includes a portable unit which includes a display, a tracking system for tracking the portable unit and a processor. The processor is coupled with the portable unit and with the tracking system. The processor determines the position and orientation of the portable unit. The processor further determines the position of at least one marker located on the object according to at least one of, a tracked pointer and respective position related information. The processor further displays registration related information on the display. At least one of the registration related information and the display location of the registration related information are related to the position and orientation of the portable unit. The position of the at least one marker, in the coordinate system associated with the pre-acquired model, is predetermined.
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Citations
28 Claims
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1. A system for registering a coordinate system associated with a pre-acquired model of an object, with a reference coordinate system, the system comprising:
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a portable unit including; a display; and an optical detection assembly for acquiring at least one image of at least one marker located on said object; a tracking system for tracking said portable unit in said reference coordinate system; and a processor, coupled with said portable unit and with said tracking system, said processor configured to determine a position and orientation of said portable unit in said reference coordinate system, said processor further configured to determine a position of said at least one marker located on said object in said reference coordinate system, according to position related information determined from said at least one image, said processor further configured to display registration related information on said display, at least one of said registration related information and a display location of said registration related information being related to the position and orientation of said portable unit in said reference coordinate system, wherein the position of said at least one marker in said coordinate system associated with a pre-acquired model of said object is predetermined. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method for displaying registration related information comprising:
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determining a position of markers in a coordinate system associated with a pre-acquired model of an object, said markers being located on said object; determining a position and orientation of a portable unit in a reference coordinate system, said portable unit including a display and the optical detection assembly for acquiring at least one image of a marker; determining the position of at least three of said markers in a reference coordinate system from said at least one image and said position and orientation of said portable unit; registering said coordinate system associated with said pre-acquired model of the object with said reference coordinate system according to the respective determined positions of said at least three of said markers, in both coordinate systems; and displaying registration related information on said display, at least one of said registration related information and a display location of said registration related information being related to the position and orientation of said portable unit in said reference coordinate system. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification