Patent ID: 8098383
Filing Date: 2012-01-17
Classification: F41G,G01S,G02B

Abstract:
1. A method for the optical detection of the position and orientation of an object by means of an optical device comprising at least one first parallelogram (A′B′C′D′) fastened to the object, whose characteristics are known, and having optical means and electronic analysis means to determine the coordinates of the four vertices of the first parallelogram (A′B′C′D′), in an orthonormal frame (R 0 (O, {right arrow over (i)}, {right arrow over (j)},{right arrow over (k)})), having a center (O), said frame comprising a plane (O, {right arrow over (j)},{right arrow over (k)}) parallel to an image plane (Pi), said method comprising: a first step of defining a second reference parallelogram (A a second step of defining a transformation under which the first parallelogram (A′B′C′D′) is the image of the second parallelogram (A a third step of determining, through the optical means, a quadrilateral (ABCD), obtained by projecting the first parallelogram (A′B′C′D′) into the image plane (Pi), with nonzero abscissa Xi, in the frame (R a fourth step of determining: a fifth step of determining the respective images of the unit vectors ({right arrow over (i)}, {right arrow over (j)},{right arrow over (k)}), defining the frame (R a sixth step of determining a translation ({right arrow over (u)}) of the transformation as a function of the first and second vectors ({right arrow over (OE)}, {right arrow over (OF)}), of the vector connecting the center of the frame (O) to a vertex of the quadrilateral (ABCD) and of the known characteristics of the second parallelogram (A