POSITIONING SYSTEM
First Claim
1. A positioning system for positioning a to-be-positioned device that is movable on or above a floor surface, said positioning system comprising:
- a plurality of reference objects configured to be disposed at respective positions, each of said reference objects being configured to provide individual unique feature information that is associated with a two-dimensional coordinate of a location thereof with respect to a coordinate system associated with the floor surface; and
a positioning device configured to be mounted to the to-be-positioned device, said positioning device includingan image capturing unit configured to obtain image data of at least three of said reference objects during a predetermined time period, the image data containing the feature information provided by said at least three of said reference objects, anda processing unit coupled to said image capturing unit for receiving the image data therefrom, said processing unit being configured toobtain, based on the image data, at least three pixel positions that correspond respectively to said at least three of said reference objects in the image data,obtain the two-dimensional coordinate of the location of said at least three of said reference objects according to the feature information in the image data, andestimate, using a triangulation positioning method, a positioning coordinate of a location of the to-be-positioned device with respect to the coordinate system based on the at least three pixel positions, a focal length of said image capturing unit used for obtaining the image data, and the two-dimensional coordinates.
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Accused Products
Abstract
A positioning system for positioning a to-be-positioned device includes three or more reference objects each providing individual unique feature information associated with a two-dimensional coordinate. A positioning device includes an image capturing unit obtaining image data of three of the reference objects, and a processing unit obtaining, based on the image data, three pixel positions corresponding respectively to the three reference objects in the image data, obtaining the two-dimensional coordinate of the location of the three reference objects, and estimating a positioning coordinate of the to-be-positioned device using a triangulation positioning method based on the three pixel positions, a focal length used for obtaining the image data and the two-dimensional coordinates.
14 Citations
9 Claims
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1. A positioning system for positioning a to-be-positioned device that is movable on or above a floor surface, said positioning system comprising:
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a plurality of reference objects configured to be disposed at respective positions, each of said reference objects being configured to provide individual unique feature information that is associated with a two-dimensional coordinate of a location thereof with respect to a coordinate system associated with the floor surface; and a positioning device configured to be mounted to the to-be-positioned device, said positioning device including an image capturing unit configured to obtain image data of at least three of said reference objects during a predetermined time period, the image data containing the feature information provided by said at least three of said reference objects, and a processing unit coupled to said image capturing unit for receiving the image data therefrom, said processing unit being configured to obtain, based on the image data, at least three pixel positions that correspond respectively to said at least three of said reference objects in the image data, obtain the two-dimensional coordinate of the location of said at least three of said reference objects according to the feature information in the image data, and estimate, using a triangulation positioning method, a positioning coordinate of a location of the to-be-positioned device with respect to the coordinate system based on the at least three pixel positions, a focal length of said image capturing unit used for obtaining the image data, and the two-dimensional coordinates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification