초록 ▼

An attempt is made to localize an object (1) with marks (3) in space, using a video camera (4). A search is made for traces of the marks (3) on the image, to deduce the directions of the marks (3) in the camera (4) view field and the position of the object (1). The algorithm used includes a step in

An attempt is made to localize an object (1) with marks (3) in space, using a video camera (4). A search is made for traces of the marks (3) on the image, to deduce the directions of the marks (3) in the camera (4) view field and the position of the object (1). The algorithm used includes a step in which marks are approximately located by simple formulas, and then a step in which the estimate is improved by an error minimization calculation. Traces are modeled on the image to determine their position with high accuracy, better than the resolution pitch of the camera (4) which therefore does not need to give a very sharp image. The marks (3) are preferably passive marks and may or may not be reflecting, and do not emit any light. The system is not very sensitive to parasite lighting.

대표청구항 ▼

[ What is claimed is:] [1.]1. Process for positioning an object (1) carrying marks (3) in space, consisting of determining the positions of traces (13) of marks (3) on an image (10) taken with a camera (4), and then calculating the positions of the marks (3) with respect to the camera (4) using the

[ What is claimed is:] [1.]1. Process for positioning an object (1) carrying marks (3) in space, consisting of determining the positions of traces (13) of marks (3) on an image (10) taken with a camera (4), and then calculating the positions of the marks (3) with respect to the camera (4) using the positions of the traces (13) on the image (4), characterized in that it comprises a step to improve the determination of the positions of the traces (13) on the image (10) by modeling the traces (13) using predetermined geometric shape functions and calculating the positions of the shape function that best correspond to the traces, the correspondence being calculated by minimizing a difference in light intensity on the image between the trace (13) and the geometric shape function, the predetermined geometric shape function including variable parameters for taking account of deformation and dimension of aspects of the marks (3) due to distance and rotation of the object (1), the geometric shape function including a gaussian function with variable parameters for modeling the light intensity within the shape function.