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Single-camera tracking of an object

  • US 6,973,202 B2
  • Filed: 09/03/2002
  • Issued: 12/06/2005
  • Est. Priority Date: 10/23/1998
  • Status: Expired due to Term
First Claim
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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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