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Real-time vision system and control algorithm for a spherical motor

  • US 5,416,392 A
  • Filed: 09/10/1993
  • Issued: 05/16/1995
  • Est. Priority Date: 12/18/1992
  • Status: Expired due to Fees
First Claim
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1. A method for permitting real time processing of images, comprising the steps of:

  • viewing an object with an image sensor for capturing an image frame;

    scanning said image frame having said object;

    ascertaining an approximate area defined by rows and columns of said image frame where said object is located; and

    processing in real time said area, without prior storage of said image frame and said area, and discarding the remainder of said image frame;

    determining a three-dimensional location of a position of a spherical body;

    moving a grid pattern substantially concentrically with said spherical body;

    retrieving an image of said lines of said grid pattern with an image sensor; and

    determining a three dimensional orientation of said spherical body in a three dimensional reference frame comprising said image sensor based upon said image of said lines.

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