Patent ID: 9576368
Date: 2017-02-21
CPC Classifications: A01J,G06T

Claim:
1. A method for optically determining the position and/or orientation of an object in space on the basis of image from a camera, the method comprising the steps of: recording a 2D image of the object and extracting 2D contour information from the image; calculating a model contour line depending on the 2D contour information; determining, on the basis of the model contour line, a determined area of the object; generating 3D information from the 2D image; selecting 3D measuring points from the 3D information that is situated within the determined area of the object; and determining a position and/or orientation of the object on the basis of the 3D measuring points, wherein a surface contour of the object is defined by a body of revolution of the model contour line, and wherein the position and/or the orientation of the body of revolution in space is varied such that the 3D measuring points from the determined area are situated closely to a lateral surface of the body of revolution, wherein the body of revolution has a principal axis, the position and orientation of which in space are varied, wherein the orientation of the principal axis is used in determining an orientation of the object in space.