Method and apparatus for determining a three-dimensional position and pose of a fiducial marker
US12073582B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 1, 2021 |
| Grant date | Aug 27, 2024 |
| Priority date | — |
| Expiry date | Oct 21, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30204
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Apparatuses and methods train a model and then use the trained model to determine a global three dimensional (3D) position and orientation of a fiduciary marker. In the context of an apparatus for training a model, a wider field-of-view sensor is configured to acquire a static image of a space in which the fiducial marker is disposed and a narrower field-of-view sensor is configured to acquire a plurality of images of at least a portion of the fiducial marker. The apparatus also includes a pan-tilt unit configured to controllably alter pan and tilt angles of the narrower field-of-view sensor during image acquisition. The apparatus further includes a control system configured to determine a transformation of position and orientation information determined from the images acquired by the narrower field-of-view sensor to a coordinate system for the space for which the static image is acquired by the wider field-of-view sensor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.