Apparatus and method for determining an absolute pose of a manipulated object in a real three-dimensional environment with invariant features
DCFirst Claim
1. An apparatus for processing absolute pose data derived from an absolute pose of a manipulated object in a real three-dimensional environment, said apparatus comprising:
- a) at least one invariant feature in said real three-dimensional environment;
b) an optical measuring means for optically inferring said absolute pose from on-board said manipulated object using said at least one invariant feature and expressing said inferred absolute pose with absolute pose data (φ
, θ
, ψ
, x, y, z) representing Euler rotated object coordinates expressed in world coordinates (Xo, Yo, Zo) with respect to a reference location;
c) a processor for preparing said absolute pose data and identifying a subset of said absolute pose data; and
d) a communication link for transmitting said subset to an application.
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Abstract
An apparatus and method for optically inferring an absolute pose of a manipulated object in a real three-dimensional environment from on-board the object with the aid of an on-board optical measuring arrangement. At least one invariant feature located in the environment is used by the arrangement for inferring the absolute pose. The inferred absolute pose is expressed with absolute pose data (φ, θ, ψ, x, y, z) that represents Euler rotated object coordinates expressed in world coordinates (Xo, Yo, Zo) with respect to a reference location, such as, for example, the world origin. Other conventions for expressing absolute pose data in three-dimensional space and representing all six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) are also supported. Irrespective of format, a processor prepares the absolute pose data and identifies a subset that may contain all or fewer than all absolute pose parameters. This subset is transmitted to an application via a communication link, where it is treated as input that allows a user of the manipulated object to interact with the application and its output.
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Citations
49 Claims
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1. An apparatus for processing absolute pose data derived from an absolute pose of a manipulated object in a real three-dimensional environment, said apparatus comprising:
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a) at least one invariant feature in said real three-dimensional environment; b) an optical measuring means for optically inferring said absolute pose from on-board said manipulated object using said at least one invariant feature and expressing said inferred absolute pose with absolute pose data (φ
, θ
, ψ
, x, y, z) representing Euler rotated object coordinates expressed in world coordinates (Xo, Yo, Zo) with respect to a reference location;c) a processor for preparing said absolute pose data and identifying a subset of said absolute pose data; and d) a communication link for transmitting said subset to an application. - 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 method for processing absolute pose data derived from an absolute pose of a manipulated object, said method comprising:
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a) placing said manipulated object in a real three-dimensional environment with at least one invariant feature; b) optically inferring said absolute pose from on-board said manipulated object using said at least one invariant feature and expressing said inferred absolute pose with absolute pose data (φ
, θ
, Ψ
, x, y, z) representing Euler rotated object coordinates expressed in world coordinates (Xo, Yo, Zo) with respect to a reference location;c) preparing said absolute pose data using a processor; d) identifying a subset of said absolute pose data; and e) transmitting said subset to an application using a communication link. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49)
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Specification