POSITION AND ORIENTATION DETERMINATION IN 6-DOF
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Abstract
A method for a six degree of freedom position and orientation determination of a known shape in a scenery is disclosed. The method includes taking a range image with a range imaging camera and a visual picture with a digital camera. The range imaging camera includes a sensor array with a first number of pixels. Determining a 3D cluster of points from range information collected from the sensor array to a point of the scenery. The digital camera comprises an image sensor having a second number of pixels, resulting in a 2D picture. A stored 3D digital representation of the known shape may be fitted in a virtual space to match the reproduction of the known object in the 2D picture and the 3D cluster of points and determining the six degree of freedom position and orientation of the known shape according to the virtual match.
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Citations
40 Claims
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1-20. -20. (canceled)
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21. A method for a six degree of freedom position and orientation determination of a three dimensional known shape in a scenery, the method comprising:
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taking a range image by means of a range imaging camera with a range image module having a sensor array with a first number of pixels, wherein for each of the first pixels a range information from the sensor to a point of the scenery is determined, resulting in a 3D cluster of points, taking a visual picture with a digital camera with an image sensor having a second number of pixels, resulting in a 2D picture, wherein the 2D picture includes intensity and spectral information, wherein a relation of the first and the second pixels fields of view is known, wherein the second number of pixels is higher than the first number of pixels, geometrically fitting of a stored 3D digital representation of the known shape in a virtual space to virtually match with the reproduction of the known shape in the taken 2D picture and the taken 3D cluster of points and determining the six degree of freedom position and orientation of the known shape in the scenery according to the virtual match. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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36. A six degrees of freedom spatial position and orientation determination device, comprising
a 3D range imaging unit, comprising a range imaging camera having a first number of pixels for determining a range image of a scenery as a three dimensional point cloud information with a first angular resolution, a 2D camera imaging CAM-unit, comprising a visual picture camera having a second number of pixels for determining a two dimensional visual picture of at least part of the scenery with a second angular resolution, in multiple colors, wherein the second resolution is higher than the first resolution, a digital image processing unit built in such a way to determine edge and face information in the visual picture, and a six dimensional known shape matching unit built in such a way to determine a three dimensional virtual match of a 3D digital representation of a known shape within the range image and the visual picture or within a combination of a the range image and the visual picture and extracting six degree of freedom position and orientation of the known shape in the scenery according to the virtual match.
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38. A computer program product with program code being stored on a machine readable medium or embodied as an electromagnetic wave, the program code being configured to automatically execute and operate the method comprising:
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taking a range image by means of a range imaging camera with a range image module having a sensor array with a first number of pixels, wherein for each of the first pixels a range information from the sensor to a point of the scenery is determined, resulting in a 3D cluster of points, taking a visual picture with a digital camera with an image sensor having a second number of pixels, resulting in a 2D picture, wherein the 2D picture includes intensity and spectral information, wherein a relation of the first and the second pixels fields of view is known, wherein the second number of pixels is higher than the first number of pixels, geometrically fitting of a stored 3D digital representation of the known shape in a virtual space to virtually match with the reproduction of the known shape in the taken 2D picture and the taken 3D cluster of points and determining the six degree of freedom position and orientation of the known shape in the scenery according to the virtual match.
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39. A six degrees of freedom spatial position and orientation determination device, comprising:
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a RIM-unit, comprising a range imaging camera for determining a range image as a three dimensional point cloud information with a first resolution, a CAM-unit, comprising a visual picture camera for determining a two dimensional visual picture with a second resolution, in multiple colors, wherein the second resolution is higher than the first resolution, a digital image processing unit built in such a way to determine edge and face information in the visual picture, and a six dimensional known shape matching unit built in such a way to determine a three dimensional best fit of a 3D digital representation of a known shape within the range image and the visual picture and extracting position and orientation of the known shape. - View Dependent Claims (40)
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Specification