US Patent No: 4,396,945
Number of patents in Portfolio can not be more than 2000
Method of sensing the position and orientation of elements in space
Stats
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Aug 2, 1983
Issued date -
Aug 19, 1981
filing date -
06/294,341
serial no -
Expired
status
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Abstract
The invention discloses a method of determining the position and orientation of an element (such as a platform) in space by determining the intersection of a line with a plane (or with another line). Three different implementations are disclosed.
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First Claim
Related Publications
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- 15 United States
- 10 France
- 8 Japan
- 7 China
- 5 Korea
- 2 Other
Patent Owner(s)
| Patent Owner | Address | Total Patents |
|---|---|---|
| ROBOTIC VISION SYSTEMS, INC. | HAUPPAUGE, NY | 111 |
International Classification(s)
- [Classification Symbol]
- [Patents Count]
Inventor(s)
| Inventor Name | Address | # of filed Patents | Total Citations |
|---|---|---|---|
| DiMatteo, Paul | Dix Hills, NY | 39 | 851 |
| Rademacher, Paul | Glen Head, NY | 5 | 259 |
| Stern, Howard | Greenlawn, NY | 61 | 1271 |
Cited Art
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Patent Citation Ranking
Forward Cites
| Patent Info | (Count) | # Cites | Year |
|---|---|---|---|
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| RE43952 Interactive system for local intervention inside a non-homogeneous structure | 0 | 1990 | |
| 6,226,548 Percutaneous registration apparatus and method for use in computer-assisted surgical navigation | 152 | 1998 | |
| 6,381,485 Registration of human anatomy integrated for electromagnetic localization | 157 | 1999 | |
| RE43328 Image guided awl/tap/screwdriver | 0 | 2002 | |
| 7,657,300 Registration of human anatomy integrated for electromagnetic localization | 5 | 2002 | |
| 7,606,613 Navigational guidance via computer-assisted fluoroscopic imaging | 7 | 2002 | |
| 7,599,730 Navigation system for cardiac therapies | 22 | 2002 | |
| RE39133 Percutaneous registration apparatus and method for use in computer-assisted surgical navigation | 27 | 2003 | |
| 7,697,972 Navigation system for cardiac therapies | 39 | 2003 | |
| 7,570,791 Method and apparatus for performing 2D to 3D registration | 19 | 2003 | |
| 7,835,778 Method and apparatus for surgical navigation of a multiple piece construct for implantation | 4 | 2003 | |
| 7,881,770 Multiple cannula image guided tool for image guided procedures | 1 | 2004 | |
| 7,567,834 Method and apparatus for implantation between two vertebral bodies | 6 | 2004 | |
| 7,853,305 Trajectory storage apparatus and method for surgical navigation systems | 0 | 2005 | |
| 8,239,001 Method and apparatus for surgical navigation | 0 | 2005 | |
| 7,835,784 Method and apparatus for positioning a reference frame | 3 | 2005 | |
| 7,840,253 Method and apparatus for surgical navigation | 6 | 2005 | |
| 8,112,292 Method and apparatus for optimizing a therapy | 0 | 2006 | |
| RE42226 Percutaneous registration apparatus and method for use in computer-assisted surgical navigation | 0 | 2006 | |
| RE42194 Percutaneous registration apparatus and method for use in computer-assisted surgical navigation | 0 | 2006 | |
| 8,074,662 Surgical communication and power system | 0 | 2006 | |
| 8,175,681 Combination of electromagnetic and electropotential localization | 6 | 2008 | |
| 7,974,677 Method and apparatus for preplanning a surgical procedure | 6 | 2009 | |
| 7,953,471 Method and apparatus for implantation between two vertebral bodies | 0 | 2009 | |
| 8,060,185 Navigation system for cardiac therapies | 2 | 2009 | |
| 7,996,064 System and method for placing and determining an appropriately sized surgical implant | 0 | 2009 | |
| 8,046,052 Navigation system for cardiac therapies | 1 | 2010 | |
| 8,271,069 Method and apparatus for surgical navigation | 0 | 2010 | |
| 8,290,572 Method and system for navigating a catheter probe in the presence of field-influencing objects | 0 | 2010 | |
| 8,320,653 System and method for image based sensor calibration | 2010 | ||
| 8,359,730 Method of forming an electromagnetic sensing coil in a medical instrument | 0 | 2011 | |
| 8,401,616 Navigation system for cardiac therapies | 0 | 2011 | |
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| 6,167,145 Bone navigation system | 65 | 1996 | |
| 6,236,875 Surgical navigation systems including reference and localization frames | 206 | 1997 | |
| 6,347,240 System and method for use in displaying images of a body part | 53 | 1997 | |
| 6,490,467 Surgical navigation systems including reference and localization frames | 101 | 1998 | |
| 6,434,415 System for use in displaying images of a body part | 96 | 1999 | |
| 7,085,400 System and method for image based sensor calibration | 11 | 2000 | |
| 6,725,080 Multiple cannula image guided tool for image guided procedures | 123 | 2001 | |
| 6,402,762 System for translation of electromagnetic and optical localization systems | 54 | 2001 | |
| 6,978,166 System for use in displaying images of a body part | 29 | 2002 | |
| 7,797,032 Method and system for navigating a catheter probe in the presence of field-influencing objects | 1 | 2002 | |
| 7,217,276 Instrument guidance method and system for image guided surgery | 15 | 2002 | |
| 7,660,623 Six degree of freedom alignment display for medical procedures | 18 | 2003 | |
| 7,313,430 Method and apparatus for performing stereotactic surgery | 19 | 2003 | |
| 7,366,562 Method and apparatus for surgical navigation | 47 | 2003 | |
| 7,542,791 Method and apparatus for preplanning a surgical procedure | 42 | 2004 | |
| 7,751,865 Method and apparatus for surgical navigation | 18 | 2004 | |
| 7,636,595 Method and apparatus for calibrating non-linear instruments | 9 | 2004 | |
| 7,630,753 Method and apparatus for perspective inversion | 1 | 2005 | |
| 8,057,407 Surgical sensor | 0 | 2005 | |
| 7,831,082 System and method for image based sensor calibration | 2 | 2006 | |
| 7,925,328 Method and apparatus for performing stereotactic surgery | 0 | 2007 | |
| 7,971,341 Method of forming an electromagnetic sensing coil in a medical instrument for a surgical navigation system | 0 | 2008 | |
| 7,818,044 Method and apparatus for surgical navigation | 1 | 2008 | |
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| 5,267,143 Vision assisted fixture construction | 19 | 1992 | |
| 5,455,765 Vision assisted fixture construction | 4 | 1993 | |
| 5,854,880 Target based determination of robot and sensor alignment | 8 | 1995 | |
| 5,721,677 Vision assisted fixture construction | 8 | 1995 | |
| 5,706,408 Target based determination of robot and sensor alignment | 6 | 1995 | |
| 5,696,673 Vision assisted fixture construction | 12 | 1995 | |
| 5,615,108 Vision assisted fixture construction | 0 | 1995 | |
| 5,608,847 Vision target based assembly | 16 | 1995 | |
| 5,602,967 Vision target based assembly | 8 | 1995 | |
| 5,600,760 Target based determination of robot and sensor alignment | 4 | 1995 | |
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| 8,239,784 Mode-based graphical user interfaces for touch sensitive input devices | 1 | 2005 | |
| 8,381,135 Proximity detector in handheld device | 0 | 2005 | |
| 8,077,147 Mouse with optical sensing surface | 2 | 2006 | |
| 8,314,773 Mouse having an optically-based scrolling feature | 0 | 2008 | |
| 8,228,305 Method for providing human input to a computer | 1 | 2009 | |
| 8,427,449 Method for providing human input to a computer | 0 | 2012 | |
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| 5,622,170 Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body | 308 | 1994 | |
| 5,987,349 Method for determining the position and orientation of two moveable objects in three-dimensional space | 134 | 1997 | |
| 5,920,395 System for locating relative positions of objects in three dimensional space | 168 | 1997 | |
| 6,442,416 Determination of the position and orientation of at least one object in space | 25 | 1998 | |
| 6,497,134 Calibration of an instrument | 10 | 2000 | |
| 6,608,688 Wireless optical instrument for position measurement and method of use therefor | 11 | 2001 | |
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| 7,714,849 Control of vehicle functions | 10 | 2006 | |
| 7,973,773 Multipoint, virtual control, and force based touch screen applications | 1 | 2007 | |
| 8,072,440 Method for providing human input to a computer | 0 | 2010 | |
| 8,044,941 Method for providing human input to a computer | 0 | 2010 | |
| 8,013,843 Method for providing human input to a computer | 0 | 2010 | |
| 8,068,100 Method for providing human input to a computer | 0 | 2010 | |
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| 5,891,034 System for indicating the position of a surgical probe within a head on an image of the head | 249 | 1995 | |
| 5,871,445 System for indicating the position of a surgical probe within a head on an image of the head | 205 | 1995 | |
| 5,851,183 System for indicating the position of a surgical probe within a head on an image of the head | 246 | 1995 | |
| 6,463,319 System for indicating the position of a surgical probe within a head on an image of the head | 7 | 1998 | |
| 6,678,545 System for determining the position in a scan image corresponding to the position of an imaging probe | 8 | 2002 | |
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| 6,165,181 Apparatus and method for photogrammetric surgical localization | 130 | 1998 | |
| 6,146,390 Apparatus and method for photogrammetric surgical localization | 79 | 2000 | |
| 6,491,702 Apparatus and method for photogrammetric surgical localization | 42 | 2001 | |
| 7,763,035 Image guided spinal surgery guide, system and method for use thereof | 8 | 2004 | |
| 8,105,339 Image guided spinal surgery guide system and method for use thereof | 1 | 2010 | |
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| 5,506,682 Robot vision using targets | 51 | 1991 | |
| 6,314,631 Vision target based assembly | 24 | 1995 | |
| 6,301,763 Determining position or orientation of object in three dimensions | 40 | 1995 | |
| 6,163,946 Vision target based assembly | 33 | 1995 | |
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| 4,754,415 Robotic alignment and part simulation | 24 | 1984 | |
| 4,753,569 Robot calibration | 61 | 1986 | |
| 4,796,200 Target based determination of robot and sensor alignment | 38 | 1987 | |
| 5,828,566 Vision assisted fixture construction | 1 | 1995 | |
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| 6,167,607 Vision target based assembly | 31 | 1995 | |
| 8,111,239 Man machine interfaces and applications | 2 | 2006 | |
| 8,405,604 Advanced video gaming methods for education and play using camera based inputs | 0 | 2007 | |
| 8,306,635 Motivation and enhancement of physical and mental exercise, rehabilitation, health and social interaction | 0 | 2009 | |
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| 4,488,173 Method of sensing the position and orientation of elements in space | 27 | 1983 | |
| 4,724,480 Method for optical alignment of one object with respect to another | 33 | 1985 | |
| 4,804,860 Robot cell safety system | 7 | 1986 | |
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| 8,290,570 System for ad hoc tracking of an object | 0 | 2004 | |
| 8,007,448 System and method for performing arthroplasty of a joint and tracking a plumb line plane | 1 | 2004 | |
| 8,382,765 Method of and system for planning a surgery | 0 | 2008 | |
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| 6,725,082 System and method for ligament graft placement | 25 | 2001 | |
| 6,585,651 Method and device for percutaneous determination of points associated with the surface of an organ | 10 | 2001 | |
| 7,277,594 System and method for preparing an image corrected for the presence of a gravity induced distortion | 3 | 2001 | |
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| 6,296,613 3D ultrasound recording device | 17 | 1999 | |
| 6,694,168 Fiducial matching using fiducial implants | 26 | 2000 | |
|
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| 7,289,227 System and tracker for tracking an object, and related methods | 8 | 2004 | |
| 7,590,218 System for monitoring the geometry of a radiation treatment apparatus, trackable assembly, program product, and related methods | 1 | 2006 | |
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| 5,828,770 System for determining the spatial position and angular orientation of an object | 164 | 1996 | |
| 5,923,417 System for determining the spatial position of a target | 39 | 1997 | |
|
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| 7,321,453 Image input system | 1 | 2004 | |
| 7,583,414 Image input system | 2 | 2006 | |
|
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| 5,210,604 Method and apparatus for audience participation by electronic imaging | 13 | 1991 | |
| 5,365,266 Video imaging method and apparatus for audience participation | 15 | 1992 | |
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| 4,672,564 Method and apparatus for determining location and orientation of objects | 50 | 1984 | |
| 4,672,562 Method and apparatus for determining location and orientation of objects | 38 | 1984 | |
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| 4,961,155 XYZ coordinates measuring system | 19 | 1988 | |
| 5,280,542 XYZ coordinates measuring system | 37 | 1991 | |
|
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| 5,012,855 Industrial robot | 1 | 1988 | |
| 4,868,473 Industrial robot device including a robot and a processing machine | 7 | 1988 | |
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| 5,832,139 Method and apparatus for determining degrees of freedom of a camera | 22 | 1996 | |
| 5,856,844 Method and apparatus for determining position and orientation | 63 | 1996 | |
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| 6,943,337 Object detection method and system | 1 | 2002 | |
| 7,154,085 Object detection method and system | 1 | 2005 | |
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| 6,839,972 Self-calibrating position determination system | 7 | 2002 | |
| 7,062,861 Self-calibrating position determination system and user interface | 2 | 2004 | |
|
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| H000297 Robotic refueling system for tactical and strategic aircraft | 1 | 1985 | |
| 5,363,185 Method and apparatus for identifying three-dimensional coordinates and orientation to a robot | 7 | 1992 | |
|
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| 7,168,174 Method and apparatus for machine element control | 7 | 2005 | |
| 7,552,539 Method and apparatus for machine element control | 4 | 2006 | |
|
|
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| 4,939,439 Robot vision and optical location systems | 7 | 1988 | |
| 5,086,411 Optical location systems | 2 | 1989 | |
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| 5,663,795 Method of calibrating laser positions relative to workpieces | 19 | 1995 | |
| 5,757,500 Calibration system for large tooling fixtures | 7 | 1997 | |
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| 4,598,456 Assembly system for electronic circuit boards | 33 | 1984 | |
| 4,791,482 Object locating system | 36 | 1987 | |
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| 4,662,752 Position and orientation (POSE) sensor and related method | 23 | 1985 | |
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| 5,889,550 Camera tracking system | 36 | 1996 | |
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| 7,813,830 Method and an apparatus for performing a program controlled process on a component | 0 | 2006 | |
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| 4,725,965 Method for calibrating a SCARA robot | 21 | 1986 | |
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| 5,383,118 Device alignment methods | 34 | 1992 | |
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| 8,200,314 Surgical navigation | 0 | 2007 | |
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| 5,285,397 Coordinate-measuring machine for non-contact measurement of objects | 61 | 1990 | |
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| 4,983,043 High accuracy structured light profiler | 28 | 1988 | |
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| 7,576,836 Camera based six degree-of-freedom target measuring and target tracking device | 1 | 2007 | |
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| 4,582,430 Position determination | 3 | 1984 | |
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| 5,187,540 Optical system for the remote determination of position and orientation | 23 | 1991 | |
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| 4,639,878 Method and system for automatically determining the position and attitude of an object | 80 | 1985 | |
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| 7,725,162 Surgery system | 2 | 2003 | |
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| 5,059,789 Optical position and orientation sensor | 224 | 1990 | |
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| 7,944,549 Optical screen, systems and methods for producing and operating same | 0 | 2006 | |
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| 5,901,236 Method and apparatus for measuring position by image processing | 8 | 1997 | |
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| 6,317,953 Vision target based assembly | 27 | 1992 | |
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| 8,346,392 Method and system for the high-precision positioning of at least one object in a final location in space | 0 | 2008 | |
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| 4,937,766 Acquiring dimensions of a large object | 5 | 1987 | |
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| 6,235,038 System for translation of electromagnetic and optical localization systems | 96 | 1999 | |
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| 8,165,658 Method and apparatus for positioning a guide relative to a base | 0 | 2008 | |
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| 6,547,397 Apparatus and method for projecting a 3D image | 22 | 2000 | |
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| 7,812,940 Angular position sensor for relative attitude sensing | 0 | 2009 | |
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| 7,998,062 Endoscope structures and techniques for navigating to a target in branched structure | 0 | 2007 | |
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| 4,841,460 Method and apparatus for calibrating a non-contact gauging sensor with respect to an external coordinate system | 33 | 1987 | |
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| 6,324,296 Distributed-processing motion tracking system for tracking individually modulated light points | 37 | 1997 | |
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| 4,893,922 Measurement system and measurement method | 14 | 1988 | |
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| 4,557,040 Alignment and insertion apparatus for an information-containing disc stylus | 1 | 1984 | |
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| 5,574,479 Optical system for determining the roll orientation of a remote unit relative to a base unit | 98 | 1994 | |
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| 6,587,809 Position and orientation detection system | 6 | 2002 | |
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| 5,313,054 Method and device for determining the orientation of a solid | 5 | 1992 | |
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| 4,942,538 Telerobotic tracker | 89 | 1989 | |
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| 4,969,735 Passive range finding apparatus utilizing television sensors | 12 | 1989 | |
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| 6,611,141 Hybrid 3-D probe tracked by multiple sensors | 64 | 2001 | |
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| 4,843,561 Apparatus for locating and manipulating agricultural products | 14 | 1985 | |
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| 5,812,257 Absolute position tracker | 37 | 1993 | |
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| 4,706,120 Modular, vision system for automation of inspection and process control | 26 | 1985 | |
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| 8,259,307 Device for optically detecting position and/or orientation of objects and associated detection methods | 0 | 2007 | |
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| 4,828,159 Automatic flush head fastener inspection device | 8 | 1988 | |
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| 5,675,112 Aiming device for weapon and fitted-out weapon | 12 | 1995 | |
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| 5,349,378 Context independent fusion of range and intensity imagery | 7 | 1992 | |
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| 4,813,125 Method and apparatus for establishing the position of a datum reference from an object having dimensional variations within a tolerance range | 16 | 1987 | |
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| 4,685,054 Method and apparatus for outlining the environment of a multiarticular duty machine by means of a laser pointer | 31 | 1985 | |
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| 6,484,381 System and method for aligning aircraft coordinate systems | 5 | 2001 | |
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| 6,278,479 Dual reality system | 5 | 1998 | |
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| H297 Robotic refueling system for tactical and strategic aircraft | 19 | 1985 | |
| 4,928,175 Method for the three-dimensional surveillance of the object space | 27 | 1988 | |
| 5,283,640 Three dimensional television camera system based on a spatial depth signal and receiver system therefor | 24 | 1992 | |
| 5,982,352 Method for providing human input to a computer | 237 | 1995 | |
| 5,729,475 Optical system for accurate monitoring of the position and orientation of an object | 19 | 1995 | |
| 5,884,239 Optical system for accurate monitoring of the position and orientation of an object | 35 | 1998 | |
| 7,098,891 Method for providing human input to a computer | 83 | 1999 | |
| 7,038,709 System and method for tracking a subject | 72 | 2000 | |
| 8,046,053 System and method for modifying images of a body part | 0 | 2005 | |
| 7,984,557 Laser-guided positioning device | 0 | 2009 | |
Maintenance Fees
| Fee | Large entity fee | small entity fee | micro entity fee | due date |
|---|
| Fee | Large entity fee | small entity fee | micro entity fee |
|---|---|---|---|
| Surcharge after expiration - Late payment is unavoidable | $700.00 | $350.00 | $175.00 |
| Surcharge after expiration - Late payment is unintentional | $1,640.00 | $820.00 | $410.00 |