Patent ID: 6724930
Filing Date: 2004-04-20
Classification: G01B,G06K,G06T

Abstract:
A three-dimensional position and orientation sensing apparatus comprising:image input means for inputting an image acquired by an image acquisition apparatus and showing at least three markers having color or geometric characteristics as one image, three-dimensional positional information of the markers with respect to an object to be measured being known in advance; region extracting means for extracting a region corresponding to each marker in the image; marker identifying means for identifying the individual markers based on the color or geometric characteristics of the markers in the extracted regions; and position and orientation calculating means for calculating the three-dimensional position and orientation of the object to be measured with respect to the image acquisition apparatus, by using positions of the identified markers in the image input to the image input means, and the three-dimensional positional information of the markers with respect to the object to be measured.