US 7,826,641 B2
APPARATUS AND METHOD FOR DETERMINING AN ABSOLUTE POSE OF A MANIPULATED OBJECT IN A REAL THREE-DIMENSIONAL ENVIRONMENT WITH INVARIANT FEATURESGeneral
US 7,826,641 B2
APPARATUS AND METHOD FOR DETERMINING AN ABSOLUTE POSE OF A MANIPULATED OBJECT IN A REAL THREE-DIMENSIONAL ENVIRONMENT WITH INVARIANT FEATURES
Tech Center:
2600 Communications
Examiner:
Seyed Azarian
Art Unit:
2624 Selective Visual Display Systems
Agent:
ELECTRONIC SCRIPTING PRODUCTS, INC.
Inventors:
Michael J. Mandella; Hector H. Gonzalez-Banos; Marek Alboszta
Assignee:
Priority:
09/03/09
Filed:
09/03/09
Granted:
11/02/10
Expiration:
03/08/26
Abstract
An apparatus and method for optically inferring an absolute pose of a manipulated object in a real three-dimensional environment from on-board the object with the aid of an on-board optical measuring arrangement. At least one invariant feature located in the environment is used by the arrangement for inferring the absolute pose. The inferred absolute pose is expressed with absolute pose data (φ, θ, ψ, x, y, z) that represents Euler rotated object coordinates expressed in world coordinates (Xo, Yo, Zo) with respect to a reference location, such as, for example, the world origin. Other conventions for expressing absolute pose data in three-dimensional space and representing all six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) are also supported. Irrespective of format, a processor prepares the absolute pose data and identifies a subset that may contain all or fewer than all absolute pose parameters. This subset is transmitted to an application via a communication link, where it is treated as input that allows a user of the manipulated object to interact with the application and its output.
Cooperative Patent Classification (CPC)
G06G06V10/17G06F3/04815G06T7/73G06VG01B11/002G01B