Method and apparatus for orientating a camera
First Claim
1. A method for recovering an orientation vector of an object, comprising the steps of:
- projecting onto an image plane an image of a grating formed on a supporting plane and having a wavelength vector, said supporting plane being in a predetermined alignment relationship with said orientation vector such that said wavelength vector is in predetermined relationship with said orientation vector;
measuring said image wavelength vector;
deriving therefrom said wavelength vector; and
thereby deriving said orientation vector.
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Abstract
A method for recovering orientation of a camera or other apparatus with respect to a coordinate system, where the orientation corresponds to a set of first, second, and third orientation vectors, comprises projecting onto an image plane respective first, second, and third images of first, second, and third gratings respectively formed on first, second, and third mutually orthogonal supporting planes and having respective first, second, and third wavelength vectors. The supporting planes are aligned with respective ones of the first, second, and third orientation vectors such that the wavelength vectors are in predetermined relationship with the orientation vectors. The first, second, and third images are associated with respective first, second, and third image wavelength vectors. Thereafter, the image wavelength vectors are measured; the wavelength vectors are derived therefrom; and the orientation vectors are thereby derived.
15 Citations
20 Claims
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1. A method for recovering an orientation vector of an object, comprising the steps of:
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projecting onto an image plane an image of a grating formed on a supporting plane and having a wavelength vector, said supporting plane being in a predetermined alignment relationship with said orientation vector such that said wavelength vector is in predetermined relationship with said orientation vector; measuring said image wavelength vector; deriving therefrom said wavelength vector; and thereby deriving said orientation vector. - View Dependent Claims (2, 3, 4)
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5. A method for recovering orientation of apparatus with respect to a coordinate system, said orientation corresponding to a set of first, second, and third orientation vectors, comprising the steps of:
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projecting onto an image plane respective first, second, and third images of first, second, and third gratings respectively formed on first, second, and third mutually orthogonal supporting planes and having respective first, second, and third wavelength vectors, said supporting planes being aligned with respective ones of said first, second, and third orientation vectors such that said wavelength vectors are in predetermined relationship with said orientation vectors, said first, second, and third images being associated with respective first, second, and third image wavelength vectors; measuring said image wavelength vectors; deriving therefrom said wavelength vectors; and thereby deriving said orientation vectors. - View Dependent Claims (6, 7, 8)
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9. A method for recovering orientation of a camera with respect to a coordinate system, said orientation corresponding to a set of first, second, and third orientation vectors, comprising the steps of:
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projecting onto an image plane respective first, second, and third images of first, second, and third gratings respectively formed on first, second, and third mutually orthogonal supporting planes and having respective first, second, and third wavelength vectors, said supporting planes being aligned with respective ones of said first, second, and third orientation vectors such that said wavelength vectors are in predetermined relationship with said orientation vectors, said first, second, and third images being associated with respective first, second, and third image wavelength vectors; measuring said image wavelength vectors; deriving therefrom said wavelength vectors; and thereby deriving said orientation vectors. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. Apparatus for recovering orientation of a camera with respect to a coordinate system, said orientation corresponding to a set of first, second, and third orientation vectors, comprising:
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means for projecting onto an image plane respective first, second, and third images of first, second, and third gratings respectively formed on first, second, and third mutually orthogonal supporting planes and having respective first, second, and third wavelength vectors, said supporting planes being aligned with respective ones of said first, second, and third orientation vectors such that said wavelength vectors are in predetermined relationship with said orientation vectors, said first, second, and third images being associated with respective first, second, and third image wavelength vectors; means for measuring said image wavelength vectors; and means for deriving therefrom said wavelength vectors so as to thereby derive said orientation vectors. - View Dependent Claims (17, 18, 19)
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20. Apparatus for orientating a camera in a desired orientation with respect to a coordinate system, said desired orientation corresponding to a set of first, second, and third orientation vectors, comprising:
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means for projecting onto an image plane respective first, second, and third images of first, second, and third gratings respectively formed on first, second, and third mutually orthogonal supporting planes and having respective first, second, and third wavelength vectors, said supporting planes being aligned with respective ones of said first, second, and third orientation vectors such that said wavelength vectors are in predetermined relationship with said orientation vectors, said first, second, and third images being associated with respective first, second, and third image wavelength vectors; means for measuring said image wavelength vectors; means for deriving therefrom said wavelength vectors so as to thereby derive said orientation vectors; and means for utilizing said orientation vectors derived by said means for deriving for orienting said camera in accordance therewith.
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Specification