System for locating the relative positions of objects in three dimensional space

摘要

This system locates and displays the relative position of one moveable object (12) with respect to a second object (11) in a three-dimensional space. The locations of at least two reference points (14, 16) on the first object (12) and at least three reference points (73-75) on the second object (11) are measurable by position sensors (20, 22,24) in a predetermined fixed coordinate system (80). From the locations of the reference points (14, 16, 73-75), a computer (36) determines the positions and orientations of the two objects (11, 12) in the fixed coordinate system (80). From the positions and orientations of the two objects (11, 12), the computer (36) further determines the relative position and orientation of the first object (12) with respect to a predetermined local coordinate system in a fixed relationship with the second object (11). The computer (36) causes the display of a graphical representation of the position and orientation of the first object (12) on a graphical model of previously taken image data of the second object (11).