PROCESS FOR RECOGNIZING THE POSITION AND ROTATIONAL POSITION IN SPACE OF SUITABLY MARKED OBJECTS IN DIGITAL IMAGE SEQUENCES

摘要

The images of an image sequence are put into binary form by the use of a threshold-value determination operation. The moments of the individual segments of each individual binary image of the sequence are found up to a predetermined order. From the moments are found parameters which describe the position and rotational position of the segments in space. From these parameters and the moments are determined the markings and their position and rotational position in space. Finally the spatial and rotational position of the marked objects are found using the known arrangement of markings on the marked objects.