Patent ID: 6919880
Filing Date: 2005-07-19
Classification: G06F

Abstract:
1. A method of determining the position of an object relative to a rectangular reference frame from captured images of the object based on multiple triangulation results, the captured images being taken by at least two pair of cameras at the corners of said reference frame having fields of view encompassing said reference frame, each of said cameras having an offset angle resulting in an extremity of the field of view thereof extending beyond a boundary of said reference frame, said method comprising the steps of: capturing an image of the object using each camera of said at least two pair at at least one location within said reference frame; for each location: processing the determined positions to determine the position of the object at each location and the offset angle of said at least one camera, wherein during said processing each said angle φ is converted to an angle ω, said angle ω being represented by: where: δ is the camera offset angle; and α is equal to the angle φ with the camera offset angle removed and referenced to the y-axis of the reference frame coordinate system and wherein each said angle ω is fitted to the equation: where: x x