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Original-Dokument Europäisches Patentamt

OBJEKTPOSITION UND AUSRICHTUNGSERKENNUNGSSYSTEM | SYSTÈME DE DÉTECTION DE LA POSITION ET DE LÝORIENTATION DÝUN OBJET | OBJECT POSITION AND ORIENTATION DETECTION SYSTEM

Patentnummer:	EP3508812B1
IPC Hauptklasse:	G01B001100
Anmelder:	Carl Zeiss AG (0) Carl Zeiss Strasse 22, 73447 Oberkochen, DE
Erfinder:
Anmeldung:	12.11.07
Offenlegung:	10.11.06
Patenterteilung:	06.01.21
Abstract / Hauptanspruch
A method of controlling a machine, a system for controlling a machine and a method of determining the position and orientation of a machine, in which the position and orientation of an object or the machine itself is calculated from the appearance of a patterned marker in an image created by an imaging means. A projected image of the patterned marker is generated according to a mathematical model describing the patterned marker, the imaging means and light rays travelling from the patterned marker to the imaging means, and the projected image of the patterned marker is matched to the patterned marker in the image created by the imaging means. This matching may be performed in real-time. An artificial position and orientation can be fine tuned to find a best match between the generated projected image of the patterned marker and the patterned marker in the image of the object created by the imaging means.