Target and method of detecting, identifying, and determining 3-D pose of the target
First Claim
Patent Images
1. A target, comprising:
- a background shape,a plurality of foreground figures arranged in the background shape and configured to allow a transform that when applied to the background shape and at least one foreground figure converts the at least one foreground figure between a set of model space parameters and a set of rotationally non-symmetric metric space parameters assigned to the set of model space parameters.
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Abstract
We disclose a photogrammetry target that includes a background having a first color and a plurality of ovoid regions located on the background and having a second color contrasting the first color. We further disclose a method and system for detecting the target and processing image data captured from the target to discern therefrom at least one of a distance to the target, identification of the target, or pose of the target.
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Citations
35 Claims
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1. A target, comprising:
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a background shape, a plurality of foreground figures arranged in the background shape and configured to allow a transform that when applied to the background shape and at least one foreground figure converts the at least one foreground figure between a set of model space parameters and a set of rotationally non-symmetric metric space parameters assigned to the set of model space parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A target detection system, comprising:
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an image receiver configured to receive an image with a set of pixels representing a target having a background and a plurality of foreground figures; and a figure detector coupled to the image receiver including, a schema, and a model space convertor configured to extract a set of rotationally non-symmetric metric space parameters from the plurality of foreground figures and compare to metrics space parameters associated with at least one shape in the schema. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. One or more non-transitory computer-readable media storing computer-executable instructions, which when executed perform steps, comprising:
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receiving an image with a set of pixels representing a target having a background and a plurality of foreground figures; and detecting a figure within the image with a model space convertor by, matching a shape and marker of the figure using a schema, and extracting and comparing a set of rotationally non-symmetric metric space parameters from the plurality of foreground figures to metrics space parameters associated with at least one shape in the schema. - View Dependent Claims (23)
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24. A target, comprising:
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a background shape, and a plurality of foreground figures arranged in the background shape and described by at least two coordinate systems including a geometric space to define a target pattern of the foreground figures and a parameter space to describe a rotationally invariant representation of the target pattern. - View Dependent Claims (25, 26, 27, 28, 29, 30)
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31. A system for measuring position or orientation, comprising:
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a plurality of targets each including a background shape, and a plurality of foreground figures arranged in the background shape and described by at least two coordinate systems including a geometric space to define a target pattern of the foreground figures and a parameter space to describe a rotationally invariant representation of the target pattern; and a central processor coupled to a memory and a display, and an application program executing processor readable instructions from the memory, the application program configured to review an image, search for and detect one or more of the plurality of targets in the image, determine the full attitude pose of each target. - View Dependent Claims (32, 33, 34, 35)
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Specification