METHOD AND APPARATUS FOR ESTIMATING THREE-DIMENSIONAL POSITION AND ORIENTATION THROUGH SENSOR FUSION
First Claim
1. An apparatus for estimating a position and an orientation, the apparatus comprising:
- a marker determining unit to determine a position of a marker in a two-dimensional (2D) image;
a depth determining unit to determine, in a depth image, a position corresponding to the position of the marker in the 2D image, and to determine a depth of the corresponding position in the depth image to be a depth of the marker; and
a marker-based estimator to estimate, based on the depth of the marker, a marker-based position indicating a three-dimensional (3D) position of the marker.
1 Assignment
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Accused Products
Abstract
An apparatus and method of estimating a three-dimensional (3D) position and orientation based on a sensor fusion process. The method of estimating the 3D position and orientation may include determining a position of a marker in a two-dimensional (2D) image, determining a depth of a position in a depth image corresponding to the position of the marker in the 2D image to be a depth of the marker, estimating a 3D position of the marker calculated based on the depth of the marker as a marker-based position of a remote apparatus, estimating an inertia-based position and an inertia-based orientation by receiving inertial information associated with the remote apparatus, estimating a fused position based on a weighted sum of the marker-based position and the inertia-based position, and outputting the fused position and the inertia-based orientation.
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Citations
29 Claims
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1. An apparatus for estimating a position and an orientation, the apparatus comprising:
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a marker determining unit to determine a position of a marker in a two-dimensional (2D) image; a depth determining unit to determine, in a depth image, a position corresponding to the position of the marker in the 2D image, and to determine a depth of the corresponding position in the depth image to be a depth of the marker; and a marker-based estimator to estimate, based on the depth of the marker, a marker-based position indicating a three-dimensional (3D) position of the marker. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of estimating a position and an orientation, the method comprising:
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determining a position of a marker in a two-dimensional (2D) image; determining a position corresponding to the position of the marker, in a depth image; determining a depth of the corresponding position in the depth image to be a depth of the marker; and estimating, based on the depth of the marker, a marker-based position of a remote apparatus, which indicates a three-dimensional (3D) position of the marker. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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22. A system for estimating a position and an orientation, the system comprising:
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a transmitting apparatus comprising at least one marker generator to generate and output a marker; a receiving apparatus to photograph a two-dimensional (2D) image and a depth image; a remote apparatus comprising one of the transmitting apparatus and the receiving apparatus; and an estimating apparatus to determine a position of the marker in the 2D image, to determine, in the depth image, a position corresponding to the position of the marker in the 2D image, determining a depth of the corresponding position in the depth image to be a depth of the marker, and to estimate, based on the depth of the marker, a marker-based position of the remote apparatus, which indicates a three-dimensional (3D) position of the marker. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29)
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Specification