Apparatus and method for determining spatial orientation

摘要

A system and a corresponding method for determining a spatial relationship between a surface having a predetermined pattern and an apparatus are disclosed. A portion of the surface may be imaged and compared with the predetermined pattern. The comparison produces at least one reference measurement that may be used to determine a spatial relationship expressed in at least parameters that define an orientation of the surface. By using knowledge of the predetermined pattern together with an algebraic model of the image formation by the apparatus, a numerical adaptation can be performed. Parameters obtained from the adaptation can then be used to calculate the spatial relationship between the apparatus and the surface in terms of, for example, a distance between the apparatus and the surface or an angle between the surface and an axis extending through the apparatus.