Patent ID: 6301763
Filing Date: 2001-10-16
Classification: A01B,B23P,B25J,B62D,G01B,G05B,Y10T

Abstract:
A method of successively determining a 3D position or orientation of an object using a detected set of targets on said object, said method comprising:providing an object having a set of original targets which are detectable by an electro-optical sensor, the number of original targets in a viewed portion of the object exceeding a number of targets required to determine the 3D position or 3D orientation of said object;viewing a portion of said object with an electro-optical sensing means having an output;analyzing said output of said electro-optical sensing means to detect, from those original targets of the set which are detected, a first subset of detectable targets in the viewed portion of the object;further analyzing said output of said electro-optical sensing means to determine the 3D position or 3D orientation of said object using said first subset of detectable targets;subsequently viewing the portion of said object with said electro-optical sensing means, where at least one of the detectable targets of said first subset of detectable targets in the viewed portion of the object is missing, obscured or degraded;analyzing said output of said electro-optical sensing means to detect, from those original targets of the set which are now detected, a second subset of detectable targets in the viewed portion of the object which excludes at least one detectable target of said first subset which is now missing, obscured or degraded; andfurther analyzing said output of said electro-optical sensing means to determine the 3D position or 3D orientation of said object using said second subset of detectable targets.