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1. (WO2014199196) POSE DETERMINATION FROM A PATTERN OF FOUR LEDS

Pub. No.:    WO/2014/199196    International Application No.:    PCT/IB2013/054769
Publication Date: Fri Dec 19 00:59:59 CET 2014 International Filing Date: Wed Jun 12 01:59:59 CEST 2013
IPC: G06T 7/00
Applicants: ASELSAN ELEKTRONIK SANAYI VE TICARET ANONIM SIRKETI
Inventors: BICER, Kadir Hakan
OKUYAN, Erkan
Title: POSE DETERMINATION FROM A PATTERN OF FOUR LEDS
Abstract:
The present invention relates to the field of computation and covers methods to find one to one mapping between fiducial markers on a tracked object and fiducial marker projections on the image plane captured by a camera in optical object tracking systems. A method for solving correspondence problem is realized to find correspondences between 3D points of an object and 2D projection of that object onto the image plane so that this can be used to find the object's 3D location and orientation. It is designed to work without current pose of the tracked object thus it is equally efficient on initial correspondence problem as correspondence problem. Furthermore, a method for selecting LED groups to be used for solving correspondence problem is also presented, which uses pose data representing possible poses of tracked object under working conditions thus LEDS groups are selected to satisfy use case requirements.