US20150098079A1 - System and method for camera based position and orientation measurement - Google Patents

System and method for camera based position and orientation measurement Download PDF

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Publication number
US20150098079A1
US20150098079A1 US14/049,607 US201314049607A US2015098079A1 US 20150098079 A1 US20150098079 A1 US 20150098079A1 US 201314049607 A US201314049607 A US 201314049607A US 2015098079 A1 US2015098079 A1 US 2015098079A1
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US
United States
Prior art keywords
targets
head assembly
target
camera
cameras
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/049,607
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English (en)
Inventor
Paul Yalden Montgomery
Andreas Winter
Till Cramer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hilti AG
Original Assignee
Hilti AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hilti AG filed Critical Hilti AG
Priority to US14/049,607 priority Critical patent/US20150098079A1/en
Assigned to HILTI AKTIENGESELLSCHAFT reassignment HILTI AKTIENGESELLSCHAFT ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CRAMER, TILL, MONTGOMERY, PAUL YALDEN, WINTER, ANDREAS
Priority to CA2926705A priority patent/CA2926705C/fr
Priority to EP14851781.6A priority patent/EP3055649B1/fr
Priority to US15/027,994 priority patent/US10197675B2/en
Priority to PCT/US2014/059418 priority patent/WO2015054194A2/fr
Priority to CN201480055730.XA priority patent/CN105745514B/zh
Priority to JP2016522012A priority patent/JP2016536580A/ja
Priority to CN201910905319.1A priority patent/CN110455280A/zh
Publication of US20150098079A1 publication Critical patent/US20150098079A1/en
Priority to JP2018189581A priority patent/JP6585262B2/ja
Abandoned legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
US14/049,607 2013-10-09 2013-10-09 System and method for camera based position and orientation measurement Abandoned US20150098079A1 (en)

Priority Applications (9)

Application Number Priority Date Filing Date Title
US14/049,607 US20150098079A1 (en) 2013-10-09 2013-10-09 System and method for camera based position and orientation measurement
CN201910905319.1A CN110455280A (zh) 2013-10-09 2014-10-07 用于基于照相机的位置和取向测量的系统和方法
PCT/US2014/059418 WO2015054194A2 (fr) 2013-10-09 2014-10-07 Système et procédé permettant la mesure d'une position et d'une orientation sur la base de caméras
EP14851781.6A EP3055649B1 (fr) 2013-10-09 2014-10-07 Système et procédé permettant la mesure d'une position et d'une orientation sur la base de caméras
US15/027,994 US10197675B2 (en) 2013-10-09 2014-10-07 System and method for camera based position and orientation measurement
CA2926705A CA2926705C (fr) 2013-10-09 2014-10-07 Systeme et procede permettant la mesure d'une position et d'une orientation sur la base de cameras
CN201480055730.XA CN105745514B (zh) 2013-10-09 2014-10-07 用于基于照相机的位置和取向测量的系统和方法
JP2016522012A JP2016536580A (ja) 2013-10-09 2014-10-07 カメラによる位置及び方向測定のためのシステム及び方法
JP2018189581A JP6585262B2 (ja) 2013-10-09 2018-10-04 カメラによる位置及び方向測定のためのシステム及び方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US14/049,607 US20150098079A1 (en) 2013-10-09 2013-10-09 System and method for camera based position and orientation measurement

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/027,994 Continuation US10197675B2 (en) 2013-10-09 2014-10-07 System and method for camera based position and orientation measurement

Publications (1)

Publication Number Publication Date
US20150098079A1 true US20150098079A1 (en) 2015-04-09

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Application Number Title Priority Date Filing Date
US14/049,607 Abandoned US20150098079A1 (en) 2013-10-09 2013-10-09 System and method for camera based position and orientation measurement
US15/027,994 Active US10197675B2 (en) 2013-10-09 2014-10-07 System and method for camera based position and orientation measurement

Family Applications After (1)

Application Number Title Priority Date Filing Date
US15/027,994 Active US10197675B2 (en) 2013-10-09 2014-10-07 System and method for camera based position and orientation measurement

Country Status (6)

Country Link
US (2) US20150098079A1 (fr)
EP (1) EP3055649B1 (fr)
JP (2) JP2016536580A (fr)
CN (2) CN110455280A (fr)
CA (1) CA2926705C (fr)
WO (1) WO2015054194A2 (fr)

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US10027901B2 (en) 2008-05-20 2018-07-17 Fotonation Cayman Limited Systems and methods for generating depth maps using a camera arrays incorporating monochrome and color cameras
US10089740B2 (en) 2014-03-07 2018-10-02 Fotonation Limited System and methods for depth regularization and semiautomatic interactive matting using RGB-D images
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US10225543B2 (en) 2013-03-10 2019-03-05 Fotonation Limited System and methods for calibration of an array camera
US10250871B2 (en) 2014-09-29 2019-04-02 Fotonation Limited Systems and methods for dynamic calibration of array cameras
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US10197675B2 (en) 2019-02-05
JP2016536580A (ja) 2016-11-24
EP3055649A2 (fr) 2016-08-17
WO2015054194A3 (fr) 2015-10-22
CN110455280A (zh) 2019-11-15
JP2019015739A (ja) 2019-01-31
CA2926705A1 (fr) 2015-04-16
CN105745514B (zh) 2020-02-11
JP6585262B2 (ja) 2019-10-02
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WO2015054194A2 (fr) 2015-04-16
CN105745514A (zh) 2016-07-06

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