METHOD AND SYSTEM FOR ASCERTAINING THE POSITION AND ORIENTATION OF A CAMERA RELATIVE TO A REAL OBJECT
First Claim
1. A method for merging a virtual data model with an image generated by a camera, said image comprising at least one part of a object, having the following steps:
- disposing the camera on a movable part of a sensor system which is coupled at least temporarily to at least one probe which is suitable to come in contact with at least one part of the real object in a calibrating process;
positioning the movable part of the sensor system, with the camera applied, in such a manner that the image is generated by the camera, and generating position data of the sensor system with respect to the real object; and
determining the position and orientation of the camera relative to the real object on the basis of the position data of the sensor system and merging a virtual data model representing a design drawing with the image generated by the camera, on the basis of the position and orientation of the camera;
whereby the virtual data model is superimposed largely precisely with the real object or relative deviations between the virtual data model and the real object are ascertained.
2 Assignments
0 Petitions
Accused Products
Abstract
The invention relates to a method for ascertaining the position and orientation of a camera (11) relative to a real object (12) for use in merging a virtual data model (13) with an image generated by the camera (11), said image comprising at least one part of the real object (12). The method comprises the following steps: disposing the camera (11) on a movable part (22) of a sensor system (20) which is coupleable to at least one probe (23) which is suitable to come in contact with at least one part of the real object (12), positioning the movable part (22) of the sensor system, with the camera (11) applied, in such a manner that the image is generatable by the camera, and generating position data (31) of the sensor system (20) with respect to the real object (12), and determining the position and orientation of the camera (11) on the basis of the position data (31, 32) of the sensor system (20).
62 Citations
24 Claims
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1. A method for merging a virtual data model with an image generated by a camera, said image comprising at least one part of a object, having the following steps:
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disposing the camera on a movable part of a sensor system which is coupled at least temporarily to at least one probe which is suitable to come in contact with at least one part of the real object in a calibrating process; positioning the movable part of the sensor system, with the camera applied, in such a manner that the image is generated by the camera, and generating position data of the sensor system with respect to the real object; and determining the position and orientation of the camera relative to the real object on the basis of the position data of the sensor system and merging a virtual data model representing a design drawing with the image generated by the camera, on the basis of the position and orientation of the camera; whereby the virtual data model is superimposed largely precisely with the real object or relative deviations between the virtual data model and the real object are ascertained. - View Dependent Claims (2, 3, 4, 7, 9, 10, 11, 12, 13, 24)
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5. (canceled)
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6. (canceled)
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8. A method for merging a virtual data model with an image generated by the camera or display apparatus, said image comprising at least one part of the real object, having the following steps:
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disposing a tracking system on a first movable part of a sensor system which is coupled at least temporarily to at least one probe which is suitable to come in contact with at least one part of the real object in a calibrating process; disposing the camera or the display apparatus in fixed relation to a second movable part of the sensor system; positioning the first movable part of the sensor system such that the second movable part of the sensor system is detectable by the tracking system, positioning the second movable part of the sensor system with the camera or display apparatus in such a manner that the image is generated by the camera or the display apparatus, and generating first position data of the sensor system with respect to the real object and second position data of the tracking system with respect to the second movable part of the sensor system; and determining the position and orientation of the camera or the display apparatus relative to the real object on the basis of the first and second position data and merging a virtual data model representing a design drawing with the generated image on the basis of the position and orientation of the camera or the display apparatus; whereby the virtual data model is superimposed largely precisely with the real object or relative deviations between the virtual data model and the real object are ascertained.
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14. A system for merging a virtual data model with an image generated by a camera, comprising;
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a sensor system having at least one movable part to which at least one probe is coupled at least temporarily which is suitable to come in contact with at least one part of the real object in a calibrating process; a camera which is disposed on the movable part of the sensor system and which is suitable to generate an image which comprises at least one part of the real object; having an interface device in order to output position data of the sensor system with respect to the real object, for determining the position and orientation of the camera relative to the real object; and a processing device coupled to the interface device and adapted for determining the position and orientation of the camera relative to the real object on the basis of the position data of the sensor system, and for merging a virtual data model representing a design drawing with the image generated by the camera, on the basis of the position and orientation of the camera, whereby the virtual data model is superimposed largely precisely with the real object or relative deviations between the virtual data model and the real object are ascertained. - View Dependent Claims (20)
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15. (canceled)
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16. (canceled)
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17. (canceled)
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18. (canceled)
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19. (canceled)
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21. A system for merging a virtual data model with an image generated by a camera or a display apparatus, comprising:
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a sensor system having at least one first movable part to which at least one probe is coupled at least temporarily which is suitable to come in contact with at least one part of the real object in a calibrating process, and having a second movable part; a tracking system which is disposed on the first movable part of the sensor system; a camera or a display apparatus which is disposed on the second movable part of the sensor system and which is suitable to generate an image which comprises at least one part of the real object; whereby the tracking system is adapted to be disposed such that the second movable part of the sensor system is detectable by the tracking system; having with interface device in order to output first position data of the sensor system with respect to the real object and second position data of the tracking system with respect to the second movable part of the sensor system, for determining the position and orientation of the camera or the display apparatus relative to the real object and processing device coupled to the interface device adapted for determining the position and orientation of the camera or the display apparatus relative to the real object, and for merging a virtual data model representing a design drawing with the generated image on the basis of the position and orientation of the camera or the display apparatus, whereby the virtual data model is superimposed largely precisely with the real object or relative deviations between the virtual data model and the real object are ascertained.
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22. (canceled)
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23. (canceled)
Specification