3D Positioning Apparatus and Method
First Claim
1. A three-dimensional (3D) positioning apparatus for an object that includes a plurality of feature points, a reference point being formed by the feature points, the object undergoing movement from a first position to a second position, said 3D positioning apparatus comprising:
- an image sensor for capturing images of the object; and
a processor coupled to said image sensor for receiving and processing the images captured thereby, said processor being configured to calculate on the basis of the images initial coordinates of each of the feature points when the object is in the first position, initial coordinates of the reference point when the object is in the first position, final coordinates of the reference point when the object is in the second position, and final coordinates of each of the feature points when the object is in the second position;
wherein said processor is further configured to calculate 3D translational information of the feature points on the basis of the initial and final coordinates of the reference point; and
wherein said processor is further configured to calculate 3D rotational information of the feature points on the basis of the initial and final coordinates of each of the feature points.
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Abstract
A 3D positioning apparatus is used for an object that includes feature points and a reference point. The object undergoes movement from a first to a second position. The 3D positioning apparatus includes: an image sensor for capturing images of the object; and a processor for calculating, based on the captured images, initial coordinates of each feature point when the object is in the first position, initial coordinates of the reference point, final coordinates of the reference point when the object is in the second position, and final coordinates of each feature point. The processor calculates 3D translational information of the feature points using the initial and final coordinates of the reference point, and 3D rotational information of the feature points using the initial and final coordinates of each feature point. A 3D positioning method is also disclosed.
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Citations
21 Claims
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1. A three-dimensional (3D) positioning apparatus for an object that includes a plurality of feature points, a reference point being formed by the feature points, the object undergoing movement from a first position to a second position, said 3D positioning apparatus comprising:
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an image sensor for capturing images of the object; and a processor coupled to said image sensor for receiving and processing the images captured thereby, said processor being configured to calculate on the basis of the images initial coordinates of each of the feature points when the object is in the first position, initial coordinates of the reference point when the object is in the first position, final coordinates of the reference point when the object is in the second position, and final coordinates of each of the feature points when the object is in the second position; wherein said processor is further configured to calculate 3D translational information of the feature points on the basis of the initial and final coordinates of the reference point; and wherein said processor is further configured to calculate 3D rotational information of the feature points on the basis of the initial and final coordinates of each of the feature points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A three-dimensional (3D) positioning method for an object that includes a plurality of feature points, a reference point being formed by the feature points, the object undergoing movement from a first position to a second position, said 3D positioning method being implemented by an image sensor and a processor of a 3D positioning apparatus, said 3D positioning method comprising:
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(a) configuring the image sensor to capture images of the object; (b) configuring the processor, which is coupled to the image sensor for receiving the images captured thereby, to calculate on the basis of the images initial coordinates of each of the feature points when the object is in the first position, initial coordinates of the reference point when the object is in the first position, final coordinates of the reference point when the object is in the second position, and final coordinates of each of the feature points when the object is in the second position; (c) configuring the processor to calculate 3D translational information of the feature points on the basis of the initial and final coordinates of the reference point; and (d) configuring the processor to calculate 3D rotational information of the feature points on the basis of the initial and final coordinates of each of the feature points. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification