Method for determining the position of an object in space

• US 8,295,585 B2
• Filed: 02/01/2005
• Issued: 10/23/2012
• Est. Priority Date: 02/03/2004
• Status: Active Grant

• Current Assignee: Isra Vision Systems AG
• Original Assignee: Isra Vision Systems AG
• Inventors: Wienand, Stephan, Lambert, Georg
• Primary Examiner(s): Chu, Randolph I
• Application Number:
  US10/588,184
• Publication Number:
  US 20080192263A1
• Time in Patent Office: 2,821 Days
• Field of Search: None
• US Class Current: 382/151
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49

Abstract

A method for determining the position of an object (1) in space is described, in which measurement characteristics (4) of the object (1) are recorded with an optical recording device (3) calibrated to a space coordinate system (5), and on the basis of these measurement characteristics (4), the position of the object (1) in the space coordinate system (5) is determined in an image processing device. To enable reliable ascertainment of the position even with only a few recording devices, it is provided that at least two measurement characteristics (4) of the object (1) are detected simultaneously in a recording device (3) and used to determine the position of the object (1).

Claims

1. A method for determining the position and relative displacement of an object (1) in space, comprising the following steps:

simultaneously recording at least three measurement characteristics (4) of the object (1) in an image by an optical recording device (3) calibrated to a space coordinate system (5);

wherein the measurement characteristics are recorded in different space positions of the recording device

on the basis of these measurement characteristics (4), determining the position of the object (1) in the space coordinate system (5) in an image processing device, wherein a moveable recording device is used, wherein the at least three measurement characteristics (4) of the object (1) in different spatial positions are recorded and evaluated, wherein a position of the recording device (3) is selected such that for determining the position of the object (1), suitable measurement characteristics (4) optimally cover a sensitive area of the recording device by intermediate angles of visual rays (7) from the measurement characteristics (4) to the photographic device (3) that are greater than 10°

, and wherein no more than five measurement characteristics (4) are evaluated simultaneously.

2. The method as defined by claim 1, wherein the measurement characteristics (4) are marked points.

3. The method as defined by claim 1, wherein a plurality of recording devices (3) are used.

4. The method as defined by claim 1, wherein one measurement characteristic (4) is reproduced in a plurality of recording devices (3).

5. The method as defined by claim 1, wherein a stationary and/or movable recording device (3) is used.

6. The method as defined by claim 5, wherein for a movable recording device (3), after a motion, the position of the recording device (3) in the space coordinate system (5) is determined.

7. The method as defined by claim 1, wherein the intermediate angle is between 10°

and approximately 170°

.

8. The method as defined by claim 1, wherein the recording device (3) is positioned and/or arranged such that as large an intermediate angle as possible exists in each case.

9. The method as defined by claim 1, wherein before the method is employed, the coordinates of the measurement characteristics (4) are learned in an object coordinate system (6), in that the object (1) is recorded in a plurality of known positions by the recording device (3).

10. The method as defined by claim 1, wherein the selection of measurement characteristics to be detected by a recording device (3), the position of the recording device (3), and/or the focal length of the recording device (3) is determined automatically.