Patent ID: 8593647

Claim:
An optical tracking system for determining the pose of a moving object in a reference coordinate system, the system comprising: at least one light emitter attached to said moving object; at least one other light emitter situated in a fixed position in a reference coordinate system; at least one Wide Field Of View (WFOV) first optical detector, situated in said fixed position in said reference coordinate system, said WFOV optical detector including: an optical sensor for sensing light received from at least one of said at least one light emitter attached to said moving object, and at least two optical receptors optically coupled with said optical sensor, each of said optical receptors including an entrance pupil, said optical receptors being spatially spaced apart from each other, each of said optical receptors projecting a different angular section of an observed scene on said optical sensor; a second optical detector attached to said moving object; and a pose processor coupled with said first optical detector, with said second optical detector, with said at least one light emitter attached to said moving object, and with said at least one light emitter situated at said fixed position, for associating at least one representation of said at least one light emitter attached to said moving object on an image acquired by said optical sensor, with a respective one optical receptor projecting the light received from said at least one light emitter attached to said moving object, on said optical sensor, according to the position of said representation in said image.