POSE DETERMINATION FROM A PATTERN OF FOUR LEDS

摘要

The present invention relates to the field of computation and covers methods to find one to one mapping between fiducial markers on a tracked object and fiducial marker projections on the image plane captured by a camera in optical object tracking systems. A method for solving correspondence problem is realized to find correspondences between 3D points of an object and 2D projection of that object onto the image plane so that this can be used to find the object's 3D location and orientation. It is designed to work without current pose of the tracked object thus it is equally efficient on initial correspondence problem as correspondence problem. Furthermore, a method for selecting LED groups to be used for solving correspondence problem is also presented, which uses pose data representing possible poses of tracked object under working conditions thus LEDS groups are selected to satisfy use case requirements.