Patent ID: 8077914
Filing Date: 2011-12-13
Classification: A61B,G06F,G06K

Abstract:
1. A system for measuring a location and an orientation of an object of arbitrary curvature, comprising: a first and a second light sources illuminating the object; a first and a second cameras receiving a first and a second image of the object being illuminated by the light sources and providing a first and a second image data respectively; and a digital signal processing unit for receiving and analyzing the first and second image data for locating and tracking the object in real-time with six degrees of freedom, including rotational roll movement of the object around a vector from a coordinate origin to a center of the object, wherein a real-time measurement of 3-dimensional unit vectors {ē} defines the directions between the first camera and glints from the respective sources is implemented accordingly to the system of equations:  wherein s is the light source number, vectors A are distances between the first camera and corresponding light source, n are normal vectors at glints from the corresponded light sources and ξ are distances from the first camera to the corresponded glints.