Method and system for automatically determining the position and

Details Method and system for automatically determining the position and Method and system for automatically determining the position and

1988-12-21

1990-07-17

MacDonald, Allen

Boots, shoes, and leggings

358101, 901 47, G01B 1100

Patent

active

049425390

ABSTRACT:
A method and system for automatically determining the position and orientation of an object by utilizing as few as a single digital image generated by as few as a single camera without the use of a structured light. The digital image contains at least three non-colinear geometric features of the object. The three features may be either coplanar or non-coplanar. The features or targets are viewed such that perspective information is present in the digital image. In a single camera system the geometric features are points, and in a multi-camera system, the features are typically combinations of points and lines. The location of the features are determined and processed within a programmed computer together with reference data and camera calibration data to provide at least three non-parallel 3-D lines. The 3-D lines are utilized by an iterative algorithm to obtain data relating to the position and orientation of the object in 3-D space. The resultant data is subsequently utilized to calculate an offset of the object from the camera. The offset is then transformed into the coordinate system or frame of a peripheral device such as a robot, programmable controller, numerically controlled machine, etc. Finally, the programmed computer transfers the transformed offset to the peripheral device which utilizes the transformed offset to modify its preprogrammed path.

REFERENCES:
patent: 4488173 (1984-12-01), DiMatteo et al.
patent: 4581762 (1986-04-01), Lapidus et al.
patent: 4630225 (1986-12-01), Hisano
patent: 4680802 (1987-07-01), Nishida et al.
patent: 4791482 (1988-12-01), Barry et al.

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