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3D positioning apparatus and method

  • US 8,866,888 B2
  • Filed: 12/29/2009
  • Issued: 10/21/2014
  • Est. Priority Date: 06/09/2009
  • Status: Active Grant
First Claim
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1. An apparatus for positioning an object, the object undergoing movement from a first position to a second position in a three-dimensional (3D) space, said apparatus comprising:

  • an image sensor for capturing images of the object, wherein said object has more than two feature points and a reference point derived from said feature points, said feature points having predetermined geometric relationships thereamong in the 3D space, said reference point and said feature points being on a common plane in the 3D space; and

    a processor coupled to said image sensor for receiving and processing the images captured thereby, said processor being configured to calculate, on the basis of the images and the predetermined geometric relationships among said feature points, initial coordinates of each of the feature points when the object is in the first position, initial coordinates of the reference point when the object is in the first position, final coordinates of the reference point when the object is in the second position, and final coordinates of each of the feature points when the object is in the second position;

    wherein said processor is further configured to calculate 3D translational information of the feature points on the basis of the initial and final coordinates of the reference point; and

    wherein said processor is further configured to calculate 3D rotational information of the feature points on the basis of the initial and final coordinates of each of the feature points;

    wherein said processor calculates the initial coordinates of each of the feature points by;

    calculating from at least one image of the object when it is in the first position a depth coordinate of said each of the feature points when the object is in the first position; and

    calculating a horizontal coordinate and a vertical coordinate of said each of the feature points when the object is in the first position on the basis of a relation among the horizontal coordinate, the vertical coordinate, and the depth coordinate of said each of the feature points; and

    wherein said processor calculates the depth coordinate of each of the feature points when the object is in the first position by;

    calculating a first distance between one of the feature points and a projection center of said apparatus;

    calculating a second distance between another one of the feature points and the projection center of said apparatus; and

    if a difference between the first and second distances is greater than or equal to a threshold distance, calculating a third distance from the projection center to a point between said one of the feature points and said another one of the feature points according to the first distance and the second distance, and calculating the depth coordinate of said each of the feature points when the object is in the first position according to the third distance.

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