Importance

Loading Importance Indicators...

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.

Loading the Abstract Image...

First Claim