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Position and orientation determination in 6-DOF

  • US 9,443,308 B2
  • Filed: 12/05/2012
  • Issued: 09/13/2016
  • Est. Priority Date: 12/06/2011
  • Status: Active Grant
First Claim
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1. A method for a six degree of freedom position and orientation determination of a three dimensional known shape in a scenery, the method comprising:

  • taking a range image by means of a range imaging camera with a range image module having a sensor array with a first number of pixels, wherein for each of the first pixels a range information from the sensor to a point of the scenery is determined, resulting in a 3D cluster of points;

    taking a visual picture with a digital camera with an image sensor having a second number of pixels, resulting in a 2D picture, wherein the 2D picture includes intensity and spectral information, wherein a relation of the first and the second pixels fields of view is known, wherein the second number of pixels is higher than the first number of pixels;

    geometrically fitting of a stored 3D digital representation of the known shape in a virtual space to virtually match with the reproduction of the known shape in the taken 2D picture and the taken 3D cluster of points;

    a first matching of the 3D digital representation with the visual picture and a second matching of the 3D digital representation with the range image and determining the six degree of freedom position and orientation by combining the results of the first and second matching; and

    determining the six degree of freedom position and orientation of the known shape in the scenery according to the virtual match.

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