Patent ID: 9536322
Date: 2017-01-03
CPC Classifications: G06K,G06T

Claim:
1. A method of tracking an object position in a 3D space comprising: providing a target on an object in a 3D space, the target including a plurality of sub targets arranged in at least one unique rich color transition sequence; determining a 3D coordinate position of a camera in the 3D space; capturing, by the camera, a camera image frame containing the target in the 3D space; determining a 2D coordinate position of the target in the camera image frame taken by camera; identifying, by the camera, the identity of each sub-target of the target in the camera image frame; communicating the sub-target identification for the target by the camera to a first computer associated with and communication coupled to the camera; storing target identification, sub-target sequences and distances between centers of sub-targets, and a plurality of target IDs; accessing, by the first computer, the stored target ID, sub-target sequences and center distances of the sub-target as the target image data of the target in the camera image frame; and determining, by the first computer, the 3D location and orientation of the target in 3D space based on distances between the centers of the sub-targets in the target with distances based on camera data and the target image data.