×

Method and apparatus for estimating three-dimensional position and orientation through sensor fusion

  • US 9,208,565 B2
  • Filed: 02/29/2012
  • Issued: 12/08/2015
  • Est. Priority Date: 07/27/2011
  • Status: Active Grant
First Claim
Patent Images

1. An apparatus for estimating a position and an orientation, the apparatus comprising:

  • one or more processors configured todetermine a position of a marker in a two-dimensional (2D) image;

    determine, in a depth image, a position corresponding to the position of the marker in the 2D image, and to determine a depth of the corresponding position in the depth image to be a depth of the marker; and

    estimate, based on the depth of the marker, a marker-based position indicating a three-dimensional (3D) position of the marker,wherein the one or more processors are further configured to determine a 2D position value excluding the depth of the marker, based on the depth of the marker, a field of view at which the 2D image and the depth image are photographed, and a distance from a predetermined reference position to the marker.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×