Patent ID: 9157795
Filing Date: 2015-10-13
Classification: A63J,F21V,G01B,G01J,G01S

Abstract:
1. A computer-implemented method comprising: determining a position of at least three photosensors relative to a world frame; controlling an orientation of at least two light sources so as to cause the at least two light sources to project respective light beams across an area encompassing the at least three photosensors; receiving, from the at least three photosensors, signals indicating a sensing of a light beam directed at one of the photosensors; after receiving a signal indicating the sensing of a light beam directed at one of the photosensors, causing the at least two light sources to stop; causing two or more of the at least two light sources to blink respective light beams in succession in order to identify a light source that caused the received signal; determining orientations of each identified light source that caused a signal at one of the photosensors; and based on the position of the at least three photosensors and the orientations of each identified light source that caused a signal at one of the photosensors, determining respective transformations from respective local frames of the at least two light sources to the world frame.