WO2015173256A3 - Verfahren und system zur bestimmung einer gegenständlichen lage - Google Patents

Verfahren und system zur bestimmung einer gegenständlichen lage Download PDF

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Publication number
WO2015173256A3
WO2015173256A3 PCT/EP2015/060502 EP2015060502W WO2015173256A3 WO 2015173256 A3 WO2015173256 A3 WO 2015173256A3 EP 2015060502 W EP2015060502 W EP 2015060502W WO 2015173256 A3 WO2015173256 A3 WO 2015173256A3
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WO
WIPO (PCT)
Prior art keywords
marker
elements
support
configuration
orientation
Prior art date
Application number
PCT/EP2015/060502
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English (en)
French (fr)
Other versions
WO2015173256A2 (de
Inventor
Fabian WEISS
Stefan HÖRMANN
Simon SINGLER
Original Assignee
Immersight Gmbh
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Publication date
Application filed by Immersight Gmbh filed Critical Immersight Gmbh
Publication of WO2015173256A2 publication Critical patent/WO2015173256A2/de
Publication of WO2015173256A3 publication Critical patent/WO2015173256A3/de

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/757—Matching configurations of points or features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Computing Systems (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Databases & Information Systems (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Controlling Sheets Or Webs (AREA)

Abstract

Mit den Verfahren zur Bestimmung einer gegenständlichen Lage und einem System (1) zur Darbietung einer Blickfelddarstellung ist die Anordnung eines Markerträgers (3) mit Markerelementen in drei räumlichen Dimensionen (x, y, z) und in einer Orientierung (Q) erfassbar. Eine Digitalkamera (7) und eine Recheneinheit (13) mit Algorithmen zur Auswertung von Bilddaten werden verwendet. Der Markerträger (3) weist mindestens zweiTrägerflächenelemente (27, 27V) mit Markerelementen (5) in einer flächenelementeweise abweichenden Markerkonfiguration auf. Ein Markererkennungsalgorithmus und ein Vergleichsalgorithmus sind zur Berechnung einer dreidimensionalen Markerpositionskonfiguration (43), welche die Lage ausmacht, vorgesehen. Es werden sequentiell Zuordnungen von drei gemeinsam sichtbaren Markerelementen (5) der Markerkonfiguration zu Markermodellkonfigurationen geprüft. Eine bekannte Ausgangslage lässt sich zur Verfolgung einer Bewegung des Markerträgers in eine geänderte gegenständliche Lage unter Berücksichtung verborgener Markerelemente einsetzen. In dem System (1) ausgeführt, können die gewonnene Position (x, y, z) und Orientierung (Q) in einer errechneten Darstellung einer räumlichen Lage eines Blickfelds, z. B. in einen virtuellen Raum, auf einer Anzeigeeinheit (19), wie einer Videobrille (23), synchron zur Ausführung einer Bewegung gezeigt werden.
PCT/EP2015/060502 2014-05-13 2015-05-12 Verfahren und system zur bestimmung einer gegenständlichen lage WO2015173256A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014106718.5 2014-05-13
DE102014106718.5A DE102014106718B4 (de) 2014-05-13 2014-05-13 System, welches eine Blickfelddarstellung in einer gegenständlichen Lage in einem veränderbaren Raumwinkelbereich darbietet

Publications (2)

Publication Number Publication Date
WO2015173256A2 WO2015173256A2 (de) 2015-11-19
WO2015173256A3 true WO2015173256A3 (de) 2016-09-09

Family

ID=53373396

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/060502 WO2015173256A2 (de) 2014-05-13 2015-05-12 Verfahren und system zur bestimmung einer gegenständlichen lage

Country Status (2)

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DE (1) DE102014106718B4 (de)
WO (1) WO2015173256A2 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015102940A1 (de) * 2015-03-02 2016-09-22 Martin Bünner Bildverarbeitungssystem zum automatisierten Erkennen von Strukturen in einem dreidimensionalen Raum und Markierungselement zur Kennzeichnung von Strukturen in einem dreidimensionalen Raum
DE102016006232A1 (de) * 2016-05-18 2017-11-23 Kuka Roboter Gmbh Verfahren und System zur Ausrichtung eines virtuellen Modells an einem realen Objekt
US10713527B2 (en) * 2018-10-03 2020-07-14 SmartCone Technologies, Inc. Optics based multi-dimensional target and multiple object detection and tracking method
CN111192318B (zh) * 2018-11-15 2023-09-01 杭州海康威视数字技术股份有限公司 确定无人机位置和飞行方向的方法、装置及无人机

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US20080170750A1 (en) * 2006-11-01 2008-07-17 Demian Gordon Segment tracking in motion picture
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US20130201291A1 (en) * 2012-02-08 2013-08-08 Microsoft Corporation Head pose tracking using a depth camera

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GB8701288D0 (en) 1987-01-21 1987-02-25 Waldern J D Perception of computer-generated imagery
WO1992009984A1 (en) 1990-11-30 1992-06-11 Vpl Research, Inc. Low cost virtual reality system
DE19536295C2 (de) * 1995-09-29 2000-12-14 Daimler Chrysler Ag Räumlich gestaltete Signalmarke
SE507680C2 (sv) 1997-01-13 1998-07-06 Qualisys Ab Metod och anordning för att bestämma positionen av ett objekt
JP3724157B2 (ja) 1997-10-30 2005-12-07 コニカミノルタホールディングス株式会社 映像観察装置
AUPR296601A0 (en) 2001-02-08 2001-03-08 Anderson Technologies Pty Ltd Optical tracking computer interface
KR100480780B1 (ko) 2002-03-07 2005-04-06 삼성전자주식회사 영상신호로부터 대상물체를 추적하는 방법 및 그 장치
JP4532982B2 (ja) 2004-05-14 2010-08-25 キヤノン株式会社 配置情報推定方法および情報処理装置
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JP4926817B2 (ja) 2006-08-11 2012-05-09 キヤノン株式会社 指標配置情報計測装置および方法
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GB2451461A (en) 2007-07-28 2009-02-04 Naveen Chawla Camera based 3D user and wand tracking human-computer interaction system
US8624924B2 (en) 2008-01-18 2014-01-07 Lockheed Martin Corporation Portable immersive environment using motion capture and head mounted display
US8848977B2 (en) 2010-01-04 2014-09-30 The Board Of Trustees Of The Leland Stanford Junior University Method for optical pose detection
DE102010028904A1 (de) 2010-05-11 2011-11-17 Movolution Gmbh Bewegunganalyse- und/oder -Verfolgungssystem
US20120095589A1 (en) 2010-10-15 2012-04-19 Arkady Vapnik System and method for 3d shape measurements and for virtual fitting room internet service

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1527417A2 (de) * 2002-07-01 2005-05-04 Claron Technology Inc. Lagebestimmung durch video-navigationssystem und verfahren
US20080170750A1 (en) * 2006-11-01 2008-07-17 Demian Gordon Segment tracking in motion picture
US20130106833A1 (en) * 2011-10-31 2013-05-02 Wey Fun Method and apparatus for optical tracking of 3d pose using complex markers
US20130201291A1 (en) * 2012-02-08 2013-08-08 Microsoft Corporation Head pose tracking using a depth camera

Also Published As

Publication number Publication date
DE102014106718A1 (de) 2015-11-19
WO2015173256A2 (de) 2015-11-19
DE102014106718B4 (de) 2022-04-07

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