Method for detecting the spatial position and rotational position of suitably marked objects in digital image sequences

摘要

PCT No. PCT/DE94/00893 Sec. 371 Date Feb. 8, 1996 Sec. 102(e) Date Feb. 8, 1996 PCT Filed Aug. 1, 1994 PCT Pub. No. WO95/04977 PCT Pub. Date Feb. 16, 1995The images of an image sequence are put into binary form by applying a threshold value operation. The moments of the individual segments of each individual binary image of the binary image sequence are determined up to a prescribed order. Parameters which describe the position and rotational position of the segments in space are determined from the moments; the markings and their position and rotational position in space are determined with the aid of these parameters and the moments. Finally, the position and rotational position of the marked objects in space are determined using the known arrangement of the markings on the marked objects.