Patent Document ID: 9916506
Application ID: 14809181
Patent Status: 1

Claim One:
1. A system, comprising: a robotic device; a plurality of invisible fiducial markers positioned on a corresponding plurality of links of the robotic device, wherein the plurality of invisible fiducial markers are detectable within a particular band of invisible light; a camera that is configured to detect the particular band of invisible light; and a control system configured to: receive, from the camera, an image of the robotic device within an environment; identify respective positions within the image of the plurality of invisible fiducial marker on the robotic device; based on the the respective positions within the image of the plurality of invisible fiducial markers on the robotic device, determine respective positions of the corresponding plurality of links of the robotic device relative to the camera; based on the respective positions of the corresponding plurality of links of the robotic device relative to the camera, determine one or more positions within the image to overlay one or more virtual annotations; and provide for display of the image of the robotic device within the environment with the one or more virtual annotations overlaid at the one or more determined positions within the image.