Video pose tracking system and method
First Claim
1. A measurement system for tracking a pose of a physical marker displaceable in a coordinate reference frame, the system comprising:
- a) the physical marker including a visible target pattern with an arrangement of contrast regions for providing at least two distributed feature points;
b) an optical sensor assembly for generating a pair of digital images of the target pattern containing the feature points, the pair of images generated from dissimilar viewing angles;
c) a marker template comprising a unique set of reference characteristics including a relationship between the feature points; and
d) a processor for testing the pixels of the digital images to determine the spatial location in the reference frame for at least two of the feature points of the target pattern, for comparing the determined spatial locations of the feature points to the set of reference characteristics to confirm the recognition of the physical marker, and for calculating the physical marker pose from the spatial location of the feature points.
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Abstract
A measurement system for tracking a pose of an object displaceable in a coordinate reference frame, such as a three dimensional coordinate system. The system comprises a predefined physical marker adapted for rigidly coupling to the object. The marker can be two or three dimensional in shape. The marker includes a visible target pattern with a series of contrast regions for providing at least two distributed feature points. The contrast regions include an arrangement of alternating dark and bright regions defining an intensity saddle point at their intersection. Each feature point is located at a respective intensity saddle point. The system also has an optical sensor assembly for generating a pair of digital images of the target pattern containing the feature points, wherein the pair of images generated are from dissimilar viewing angles. The system also has an identifier for testing the pixels of the digital images to determine the spatial location in the reference frame for each of the feature points of the target pattern. A marker template including a set of reference characteristics is used to uniquely define a pose relationship between the features points. Further, a processor is used for comparing the determined spatial locations of the feature points to the set of reference characteristics to confirm the recognition of the predefined marker. A method is also described to identify the intensity saddles contained in the digital images.
146 Citations
37 Claims
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1. A measurement system for tracking a pose of a physical marker displaceable in a coordinate reference frame, the system comprising:
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a) the physical marker including a visible target pattern with an arrangement of contrast regions for providing at least two distributed feature points;
b) an optical sensor assembly for generating a pair of digital images of the target pattern containing the feature points, the pair of images generated from dissimilar viewing angles;
c) a marker template comprising a unique set of reference characteristics including a relationship between the feature points; and
d) a processor for testing the pixels of the digital images to determine the spatial location in the reference frame for at least two of the feature points of the target pattern, for comparing the determined spatial locations of the feature points to the set of reference characteristics to confirm the recognition of the physical marker, and for calculating the physical marker pose from the spatial location of the feature points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 34, 35, 36)
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20. A measurement method for tracking a pose of a predefined physical marker displaceable in a coordinate reference frame, the marker including a visible target pattern with a series of contrast regions for providing at least two distributed feature points, the method comprising the steps of:
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a) generating a pair of digital images of the target pattern containing the feature points, the pair of images generated from dissimilar viewing angles;
b) testing the pixels of the digital images to determine the spatial location in the reference frame for at least two of the feature points of the target pattern;
c) comparing the determined spatial locations of the feature points to a unique set of reference characteristics for recognising the physical marker in the coordinate frame; and
d) calculating the physical marker pose from the determined spatial locations of the feature points. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 37)
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Specification