System and method for camera based position and orientation measurement

• US 10,197,675 B2
• Filed: 10/07/2014
• Issued: 02/05/2019
• Est. Priority Date: 10/09/2013
• Status: Active Grant

• Current Assignee: Hilti Aktiengesellschaft (Hilti Martin Family Trust)
• Original Assignee: Hilti Aktiengesellschaft (Hilti Martin Family Trust)
• Inventors: Montgomery, Paul Yalden, Winter, Andreas, Cramer, Till
• Primary Examiner(s): Abraham, Samantha K
• Application Number:
  US15/027,994
• Publication Number:
  US 20160238706A1
• Time in Patent Office: 1,582 Days
• CPC Class Codes: F16M 11/08 around a vertical axis , e.g. panoramic heads F16M11/12 takes precedence
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G03B 17/561 Support related camera accessories
• CPC Class Codes: G03B 37/00 Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe

Abstract

A system and a method for determining a position and an orientation of an object relative to a defined reference frame is disclosed. A plurality of targets are disposed at known locations relative to the defined reference frame. A head assembly is disposed on the object, where the head assembly includes a plurality of cameras. The head assembly determines the position and the orientation of the object from location data associated with the plurality of targets and image data from the plurality of cameras.

Claims

1. A system for determining a position and an orientation of an object in a working volume relative to a defined reference frame of the working volume, comprising:

a plurality of targets disposed at known locations relative to the defined reference frame, wherein the plurality of targets are attached to, or projected on to, internal surfaces of the working volume; and

a head assembly disposed on the object, wherein the head assembly includes a plurality of cameras;

wherein the position and the orientation of the object relative to the defined reference frame is determinable by the head assembly from location data associated with the plurality of targets in the defined reference frame and image data from the plurality of cameras in an assembly frame of the head assembly.

2. The system according to claim 1, wherein the plurality of targets are active targets, passive targets, or projected targets.

3. The system according to claim 2, wherein the projected targets are laser dots or lines in a known configuration.

4. The system according to claim 1, wherein the plurality of targets are active targets and wherein each of the plurality of active targets is modulated in an on-off time sequence at a predetermined frequency and duty cycle or time sequence.

5. The system according to claim 4, wherein a power or the duty cycle or the time sequence of each of the plurality of active targets is dynamically changeable in response to a command on a wireless communication channel.

6. The system according to claim 1, wherein a modulation sequence of the plurality of targets is time synchronized.

7. The system according to claim 6, wherein the modulation sequence is based on a sensing of a phase of an alternating current power distribution network.

8. The system according to claim 6, wherein the plurality of cameras are time synchronized with the plurality of targets.

9. The system according to claim 1, wherein the plurality of targets are modulated using low frequency modulation with a set of predefined codes.

10. The system according to claim 1, wherein the head assembly includes a plurality of photodiodes and wherein the photodiodes sense a signal from at least one of the plurality of targets.

11. The system according to claim 1, wherein the head assembly includes an inertial measurement sensor.

12. The system according to claim 1, wherein the location data associated with the plurality of targets is obtained from a target location database and wherein the image data from the plurality of cameras are image space blobs.

13. The system according to claim 1, wherein the image data from the plurality of cameras is image data processed by a decimation filter and wherein the processed image data is a set of regions of interest with each region of interest containing an image space blob.

14. The system according to claim 1, further comprising a rotation accessory, wherein the head assembly is connected to the rotation assembly.

15. The system according to claim 14, wherein the rotation accessory includes:

a rotation platter;

an azimuth motor with a shaft that is connected to the rotation platter and an azimuth angle encoder for the shaft;

a self-leveling platform, wherein the self-leveling platform aligns a rotational axis of the azimuth motor with a local gravity vector; and

a micro-controller, wherein the micro-controller controls the azimuth motor and the self-leveling platform and receives a signal from the azimuth angle encoder.

16. The system according to claim 15, further comprising:

an elevation platform;

an elevation motor with a shaft that is connected to the elevation platform and an elevation angle encoder for the shaft, wherein the shaft is disposed in a horizontal plane by the self-leveling platform of the rotation accessory;

a laser range finder attached to the elevation platform such that an optical axis of the laser range finder is orthogonal to the shaft of the elevation motor; and

a target feedback camera attached to the elevation platform such that an optical axis of the camera is aligned with the optical axis of the laser range finder and wherein the camera is sensitive at a wavelength of the laser range finder.

17. The system according to claim 15, further comprising a stable base and a rigid enclosure, wherein the plurality of targets are disposed in known positions relative to the stable base.

18. A method for determining a position and an orientation of an object in a working volume relative to a defined reference frame of the working volume, comprising the steps of:

disposing a plurality of targets at known locations relative to the defined reference frame, wherein the plurality of targets are attached to, or projected on to, internal surfaces of the working volume;

receiving image data from a plurality of cameras at a head assembly disposed on the object relative to an assembly frame of the head assembly;

receiving location data associated with the plurality of targets relative to the defined reference frame at the head assembly; and

determining the position and the orientation of the object by the head assembly from the received image data in the assembly frame and location data in the defined reference frame.

19. The method according to claim 18, wherein the plurality of targets are active targets, passive targets, or projected targets.

20. The method according to claim 18, wherein the head assembly includes a plurality of photodiodes and further comprising the step of sensing a signal by the photodiodes from at least one of the plurality of targets.

21. The method according to claim 18, wherein the head assembly includes an inertial measurement sensor.

22. The method according to claim 18, wherein the location data associated with the plurality of targets is received from a target location database and wherein the image data from the plurality of cameras are image space blobs.

23. The method according to claim 18, wherein the head assembly is connected to a rotation accessory.

24. The method according to claim 23, wherein the rotation accessory includes:

a rotation platter;

an azimuth motor with a shaft that is connected to the rotation platter and an azimuth angle encoder for the shaft;

a self-leveling platform, wherein the self-leveling platform aligns a rotational axis of the azimuth motor with a local gravity vector; and

a micro-controller, wherein the micro-controller controls the azimuth motor and the self-leveling platform and receives a signal from the azimuth angle encoder.

25. The method according to claim 24, further comprising:

an elevation platform;

an elevation motor with a shaft that is connected to the elevation platform and an elevation angle encoder for the shaft, wherein the shaft is disposed in a horizontal plane by the self-leveling platform of the rotation accessory;

a laser range finder attached to the elevation platform such that an optical axis of the laser range finder is orthogonal to the shaft of the elevation motor; and

a target feedback camera attached to the elevation platform such that an optical axis of the camera is aligned with the optical axis of the laser range finder and wherein the camera is sensitive at a wavelength of the laser range finder.

26. The method according to claim 24, further comprising a stable base and a rigid enclosure, wherein the plurality of targets are disposed in known positions relative to the stable base.