Position and orientation measurement method and position and orientation measurement apparatus
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United States of America Patent
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May 20, 2014
Grant Date -
May 2, 2013
app pub date -
Dec 20, 2012
filing date -
Nov 28, 2006
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Abstract
Indices allocated or set on an object are detected from sensed images of frames, which are time-serially sensed by an image sensing device. In association with each index detected from the sensed image of the frame of interest, a detection condition from frames before the frame of interest is acquired. According to the acquired detection condition of the index, the reliability of this index is calculated. The position and orientation of the object or the image sensing device are calculated using at least information associated with the image coordinates of the detected indices and the reliabilities of the indices.
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