Patent Document ID: 7477774
Application ID: 10482141
Patent Status: 1

Claim One:
1. A method of estimating the position of the field of view of an imaging device relative to a board having markings visible thereon, the method comprising the step of: estimating the position of the field of view of the imaging device based on changes in position of a selected set of reference groups of markings, wherein for each selected reference group of markings, the change in position is determined by acquisition and analysis of image data of a corresponding; selecting group(s) of one or more markings on the board to serve as respective reference group, the field of view of the image device being at a first position relative to the board when the selected reference group(s) are at a nominal position in the field of view; using the image device to generate an image of a subset of the board corresponding to the nominal position of each respective reference group, at least one dimension of the subset image being substantially equal to or greater than the maximal positioning error of the image device in each respective subset image, detecting the image of the corresponding reference group, and determining the offset between the nominal position of the reference group in the field of view of the image device and the detected position thereof; and determining the position of the field of view of the image device based on the determined offsets and based on the known relationship between the first position of the image device and the nominal position of the reference group(s).