| 主权项 |
1. A free space positioning method for estimating an attitude angle of an object in a free space, said free space positioning method to be implemented by a free space positioning system that includes a light source module, an image capturing module disposed at the object, and a computing module communicatively coupled with the image capturing module, the computing module including a processing unit and a storage unit, the light source module including a first light source, a second light source and a third light source that cooperate to define a plane, and a fourth light source disposed at one side of the plane, the storage unit storing a plurality of light source orientation data and a plurality of pre-stored attitude angles respectively corresponding to the light source orientation data, said free space positioning method comprising the steps of:
(A) capturing, by the image capturing module, an image of the light source module to generate a to-be-judged image, and transmitting the to-be-judged image to the processing unit of the computing module; (B) analyzing, by the processing unit, coordinates of the first, second, third and fourth light sources in the to-be-judged image to obtain to-be-judged information associated with the coordinates of the first, second, third and fourth light sources in the to-be-judged image; (C) comparing, by the processing unit, the to-be-judged information with the light source orientation data stored in the storage unit to obtain at least one candidate light source orientation data similar to the to-be-judged information; and (D) estimating, by the processing unit, an attitude angle of the object according to the pre-stored attitude angle corresponding to each of the candidate light source orientation data obtained in step (C). |
