Title:
【発明の名称】物体位置の追跡・検知方法
Document Type and Number:
Japanese Patent JP2002511614
Kind Code:
A
Abstract:
A spatial position and orientation sensor based on a three-dimensional imaging system provides information describing the actual three-dimensional spatial position relative to the sensor of objects in the field of view of the sensor. The sensor thus directly determines its location relative to its surroundings. Movement of the sensor, and thus movement of an object carrying the sensor, relative to the surroundings is detected by comparing repeated determinations of the location in three dimensions of fixed features in the surroundings relative to the sensor. An algorithm is used to calculate changes in the position of features in the field of view of the sensor relative to the sensor. Knowledge of changes in the position relative to fixed features is used to determine movement in three dimensions of the sensor or an object carrying the sensor relative to fixed features in the surroundings. The features in the surroundings may be natural or artificial. The true extent of the movement of the sensor in three dimensions is directly determined from the change in position and orientation of the sensor relative to the fixed features in the surroundings. The extent of the movement is used to determine the new position and orientation of the sensor relative to a previous position. When starting from a predetermined location the actual position and orientation of the sensor may be reliably tracked over a period of time by accumulating the measured movements over time.
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Inventors:
Polo Pat George
Application Number:
JP2000543846A
Publication Date:
April 16, 2002
Filing Date:
April 15, 1999
Export Citation:
Assignee:
Commonwealth Scientific and Industrial Research Organization
International Classes:
G01S5/08; G01S5/16; G01S17/93; G05D1/02; G06T1/00; G01C21/04; (IPC1-7): G05D1/02; G01C21/04; G01S17/93; G06T1/00
Attorney, Agent or Firm:
Yoshikazu Tani (2 outside)