Single-camera tracking of an object
First Claim
Patent Images
1. A method for tracking a location and orientation of an object in three-dimensional space, comprising:
- (a) surveying a plurality of markers on an object;
(b) calibrating an imaging device that is used to image the object;
(c) obtaining a first set of object position and orientation data;
(d) projecting the markers to an image domain to obtain coordinates of projected markers;
(e) obtaining an image frame data set using the imaging device, the image frame data set comprising image data for at least three markers from the plurality of markers;
(f) analyzing the image frame data set against the projected marker coordinates;
(g) adjusting the first set of object position and orientation data if results of (f) are not within acceptable threshold tolerances; and
(h) accepting the first set of object position and orientation data for the object if results of (f) are within the acceptable threshold tolerances.
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Abstract
A method and system for determining the position and orientation of an object is disclosed. A set of markers attached or associated with the object is optically tracked and geometric translation is performed to use the coordinates of the set of markers to determine the location and orientation of their associated object.
258 Citations
30 Claims
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1. A method for tracking a location and orientation of an object in three-dimensional space, comprising:
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(a) surveying a plurality of markers on an object;
(b) calibrating an imaging device that is used to image the object;
(c) obtaining a first set of object position and orientation data;
(d) projecting the markers to an image domain to obtain coordinates of projected markers;
(e) obtaining an image frame data set using the imaging device, the image frame data set comprising image data for at least three markers from the plurality of markers;
(f) analyzing the image frame data set against the projected marker coordinates;
(g) adjusting the first set of object position and orientation data if results of (f) are not within acceptable threshold tolerances; and
(h) accepting the first set of object position and orientation data for the object if results of (f) are within the acceptable threshold tolerances. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. A single camera method for tracking a location and orientation of an object, comprising:
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surveying a set of markers on an object;
obtaining an estimate of the position and orientation of the object;
using a single camera to image the object to obtain an image frame to generate actual coordinate information, wherein at least three markers in the image frame are identifiable;
analyzing the actual coordinate information; and
accepting the estimate of the position and orientation of the object if the result of analyzing the actual coordinate information is within an acceptable threshold tolerance.
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Specification