Patent ID: 8395663
Filing Date: 2013-03-12
Classification: G01S,G06T,H04N

Abstract:
1. A positioning method, for an operation module, the method comprising: communicating with a first positioning device and a second positioning device by the operation module via a wireless communication device, wherein the first positioning device is disposed in a moving device and the second positioning device is disposed at a first distance from the moving device; obtaining a first pose information of the moving device by the first positioning device, wherein the first position device is configured to detect a direction and a displacement of the moving device in a world reference coordinate and the first pose information is in the world reference coordinate; obtaining a second pose information of the moving device by the second positioning device, wherein the second positioning device is configured to capture at least a picture of the moving device, the second pose information in an image reference coordinate is estimated by the picture of the moving device, and the second pose information corresponds to the first pose information; determining an error range, increasing the error range in a first direction and decreasing the error range in a second direction if the displacement of the moving device in the first direction is larger than the displacement of the moving device in the second direction; generating a plurality of first candidacy pose information randomly in the world reference coordinate, wherein the distance between the first pose information and each of the first candidacy pose information is within the error range of the first pose information, and transforming the plurality of the first candidacy pose information into a plurality of second candidacy pose information in the image reference coordinate according to parameters of the second positioning device, wherein the parameters of the second position device comprises a corresponding relation between the image reference coordinate and the world reference coordinate; and obtaining an error between the second pose information and each of the plurality of the second candidacy pose information and selecting one of the second candidacy pose information, having a smallest error among the errors, for updating information of the first positioning device and parameter information of the second positioning device.