Patent ID: 8381982
Filing Date: 2013-02-26
Classification: G01S,G05D

Abstract:
1. A method of determining a coordinate position and rotational orientation of an object within a predefined coordinate space, the method comprising: a) providing a plurality of unique position markers having identifying indicia and positional reference indicia thereupon, the markers being arranged at predetermined known positional locations within the coordinate space, the known positional locations and known angular orientations being stored in a map, so that at least two position markers are always within view of the object; b) using an image acquisition system mounted on the object, acquiring an image of the at least two position markers M c) establishing a center point N d) determining a center point O of the field of view of the image acquisition system; e) determining line segments O-N f) using the lengths and directions of line segments O-N g) using the direction of line segment N