Method for generating an optical marking, method for identifying an optical marking and marking device with an optical marking

Abstract

The invention is based on a method for generating an optical marker for image processing, for photogrammetry and / or for motion detection by means of at least one output unit and / or at least one control and / or regulating unit, in at least one method step the optical marker being output and / or generated in such a way that the optical marker is formed by a regular pattern of a plurality of angular structures and a plurality of substructures, the substructures each being arranged completely within one of the structures, respectively, viewed in at least two mutually perpendicular directions of orientation along the projection plane of the optical marker, at least two directly adjacent structures each having a color different from one another, the color sequence of the plurality of structures repeating periodically along both directions, the optical marker being formed by a plurality of minimum recognition areas each being unique within the optical marker. In at least one method step the optical marker is output and / or generated in such a way that the substructures each have an imaging area corresponding to at least 15% of the maximum projection area developed from one of the structures.

Description

Technical Field

[0001] The present invention relates to a method for generating optical marks, a method for identifying optical marks, and a marking device having optical marks. Background Technology

[0002] A method has been proposed for generating optical markers for image processing, photogrammetry, and / or motion detection using at least one output unit and / or at least one control and / or adjustment unit, wherein, in at least one method step, the optical markers are output and / or generated such that the optical markers are formed by a regular pattern of multiple angular structures and by multiple substructures arranged within one of these structures, wherein, when viewed along the projection plane of the optical marker in at least two mutually perpendicular directions, at least two directly adjacent structures each have mutually different colors, wherein the color sequence of the multiple structures repeats periodically along the two directions, and the optical markers are formed by multiple minimally identifiable regions each unique within the optical markers. Summary of the Invention

[0003] The present invention is based on a method for generating optical markers for image processing, photogrammetry, and / or motion detection by means of at least one output unit and / or at least one control and / or adjustment unit, wherein, in at least one method step, the optical markers are output and / or generated such that the optical markers are formed by a regular pattern consisting of a plurality of angular structures and by a plurality of substructures, the substructures being arranged, in particular, completely within one of the structures, wherein, when viewed along the projection plane of the optical marker in at least two mutually perpendicular directions, at least two directly adjacent structures have different colors from each other, wherein the color order of the plurality of structures repeats periodically along the two directions, and the optical markers are formed by a plurality of minimally identifiable regions, each unique within the optical markers.

[0004] It is proposed that, in at least one method step, and particularly in the at least one method step, the optical mark is output and / or generated such that the substructures each have an imaging surface. The imaging surface corresponds to at least 15%, preferably at least 20%, and preferably at least 24% of the projection surface that is expanded from one of the structures.

[0005] The method configuration according to the invention enables advantageously simple and accurate identification of optical marks. It allows for an advantageously large maximum identification range of the optical mark, from which substructures can still be identified with a sufficiently high probability. It allows for an advantageously low minimum resolution of the optical mark, at which the optical mark can still be identified with a sufficiently high probability. It allows for an advantageously low error probability when identifying the optical mark. Thus, it allows for advantageously unique, clear, and rapid allocation of the detected portion of the optical mark within the optical mark. It allows for advantageously good identification of substructures, for example, in cases of poor resolution of the optical mark or in cases of poor recording conditions, such as smoke, darkness, etc. In particular, it allows for advantageously accurate optical marking of objects. It allows for advantageous coverage of large areas. Preferably, the detection of the optical mark and / or the allocation of the detected portion of the optical mark can be achieved independently of the detection of the edge regions of the optical mark. Thus, it allows for advantageously large optical marks to detect simultaneously advantageously small objects.

[0006] The “imaging surface” of an object, especially a substructure, should be understood in particular as a surface covered by the object in at least one projection plane, particularly on the surface of the object and / or in the image plane of a detection unit for detecting optical marks. The “detection unit” should be understood in particular as an electronic and / or optical unit comprising at least one detection element configured as a sensor. Preferably, the detection unit, especially the detection element, is configured for imaging and / or showing a portion of the object, optical mark, and / or optical mark, particularly on the surface and / or object. The imaging surface corresponds in particular to the largest surface covered by the object, excluding grooves, etc. For example, the imaging surface of a ring corresponds only to the surface between the two circular contours of the ring, excluding the inner surface of the ring. The imaging surface is particularly configured to be continuous and / or monochromatic. The “projection surface” of an object, especially a structure, should be understood in particular as the largest surface unfolded by the object in at least one projection plane, particularly on the surface of the object and / or in the planar image of a detection unit for detecting optical marks. In particular, the projection surface corresponds to the largest surface of the object unfolded in the projection plane by the outer contour of the object. For example, the projection surface of the annulus corresponds to the surface unfolded by the outermost circular contour of the annulus, which in particular also includes the inner surface of the annulus. Particularly preferably, the projection surface of the structure in which substructures are respectively arranged also includes the surfaces of these substructures. Preferably, the optical mark is output and / or generated such that these substructures each have an imaging surface corresponding to at most 70%, preferably at most 60%, preferably at most 50%, and particularly preferably at most 40% of the maximum projection surface of the structure. Preferably, all structures of the optical mark have the same basic shape. Preferably, all substructures of the optical mark have the same basic shape. In particular, all structures of the optical mark are oriented identically. Particularly preferably, all structures of the optical mark are at least substantially identically constructed and each have a projection surface, wherein these projection surfaces are at least substantially identical to each other. Particularly preferably, all structures of the optical mark are at least substantially identically constructed and each have an imaging surface, wherein these imaging surfaces are at least substantially identical to each other. It is conceivable that the optical mark is output and / or generated such that the optical mark has multiple substructures and / or multiple structures with different constructions. Specifically, each substructure has an imaging surface that corresponds to at least 15%, preferably at least 20%, and preferably at least 24% of the maximum projection plane of the structure in which the corresponding substructure is arranged. For example, if the basic shape of the structure differs from that of a quadrilateral, or if the structure has more than one basic shape, it is conceivable that a part of the optical mark structure has a different orientation than another part of the optical mark structure.

[0007] Preferably, the method and / or setting of the optical mark are used to determine at least one pose, motion, and / or shape of the object from at least one image of the object, especially in the absence of contact. In particular, the object has optical marks and / or images the optical marks. "Setting" should be understood in particular as specifically designed and / or specially equipped. The object setting for determining function should be understood in particular as the object realizing and / or implementing the determined function in at least one application and / or operating state. For example, the method is used to detect the surface of the object, especially the shape of the surface, the motion of the object within the detection area of ​​the detection unit, the position and / or motion of the detection unit relative to the object, the distance between the detection unit and the object, etc. It is conceivable that the method can be used in the fields of camera calibration, especially automated environmental detection, motion tracking, navigation for at least partially autonomous robots, etc. Preferably, the optical mark is output and / or generated such that it is at least partially visible on the object. In particular, when generating / generating the optical mark, the optical mark is applied, for example, printed onto the object, or projected onto the object. Preferably, the optical mark is generated and / or produced by means of a control and / or adjustment unit. The term "control and / or regulation unit" should be understood in particular as a unit having at least one control electronic device. "Control electronic device" should be understood in particular as a unit having a processor unit, particularly a processor unit configured as an FPGA, a processor, a microcontroller, etc., and a storage unit, particularly a storage unit configured as physical and / or digital memory, etc., and an operating program stored in the storage unit. Preferably, the optical marks, particularly the generated and / or produced optical marks, are output by means of an output unit, particularly printed or projected onto at least one surface. In particular, the optical marks shown are visible on the surface. It is conceivable that the output optical marks are only partially visible on the surface.

[0008] Preferably, the optical marks are output and / or generated such that the structures are arranged seamlessly close to each other. For example, these structures are arranged in a checkerboard pattern. In particular, these structures each have one of at least two different colors, especially exactly one of two different colors, particularly black or white. Preferably, the optical marks are output and / or generated such that these substructures each have one of at least two different colors, especially exactly one of two different colors, particularly black or white. It is conceivable that the optical marks are constructed such that exactly one color of the structure and / or substructure is given by a color of the surface having the optical mark or imaging the optical mark, wherein the structure and / or substructure having exactly one color is omitted when the optical mark is output by the output unit. In particular, when outputting the optical mark, the structure and / or substructure having exactly one color is not printed or projected onto the surface, but becomes visible, especially by contrast with other structures and / or substructures, which are preferably printed or projected onto the surface.

[0009] Preferably, the optical markers are output and / or generated such that the substructures are each completely arranged within one of the structures, wherein the imaging surface of the substructure is completely surrounded by the projection surface of the structure. The “minimum recognition region” should be understood in particular as the minimum arrangement structure consisting of the optical markers and their closely arranged structures and substructures, which appears exactly once within the optical marker. Preferably, the size of the minimum recognition region depends on the maximum size of the optical marker. In particular, the minimum recognition regions are each formed by the same number of structures, which are arranged in the same manner. In a preferred configuration, the minimum recognition regions each have a basic shape that is at least substantially rectangular, especially square, which includes all the structures within each minimum recognition region. Particularly preferably, only the structures of the optical markers are arranged in a regular pattern, wherein the minimum recognition region is predefined, particularly by the irregular arrangement of the substructures within the structure. Particularly preferably, the substructures are arranged in a disordered manner, especially not in a regular pattern, within the optical marker.

[0010] Preferably, the substructures are arranged within a single structure of the optical mark structure. Preferably, the substructures respectively cover the structure in which the corresponding substructure is arranged at least partially, preferably above the imaging surface of the substructure. Preferably, the structures of the optical mark, especially all structures, have the same projection surface and / or the same outer contour. In particular, for structures with substructures arranged within the structure and for structures without substructures arranged within the structure, the surfaces of the structure unfolded from the outer contour of the structure, especially those of the same color different from the projection surface, can be different. Preferably, the substructures, especially the imaging surfaces of the substructures, each have a different color than the corresponding structures in which these substructures are arranged. In particular, the projection surfaces of the structures in which substructures are arranged respectively include the imaging surfaces of the corresponding substructures arranged within the structure. Preferably, the projection surfaces of the structures in which substructures are arranged are not constructed in a single color / two color, wherein, in particular, the surfaces of the structure unfolded from the outer contour of the structure of the same color have a different color than the imaging surfaces of the substructures arranged within the structure.

[0011] Furthermore, it is proposed that in at least one method step, optical marks are generated by means of a control and / or adjustment unit, based on at least one pre-given mark parameter, through procedural generation, wherein the mark parameter or at least one other mark parameter of the optical mark is matched. This allows for advantageously flexible generation of optical marks. It also allows for advantageously simple matching of optical marks to application-specific and / or environment-specific parameters. For example, the maximum size or basic shape of the optical mark can be dynamically and / or automatically matched to the shape of the object to be detected or the distance to the object. "Procedural generation" should be understood in particular as the generation of (especially virtual) objects, particularly optical marks, which are generated by means of a deterministic algorithm based on pre-given initial conditions, particularly based on at least one mark parameter, without the user providing an accurate pre-given configuration of the object. Specifically, two objects generated by procedural generation under the same initial conditions are constructed identically to each other. "Mark parameter" should be understood in particular as a parameter that describes or pre-given at least one characteristic of the optical mark for procedural generation. Particularly preferably, the procedural generation of the optical mark is performed using a control and / or adjustment unit. Specifically, the input and / or matching of pre-given marker parameters is performed using at least one input unit that transmits the marker parameters to the control and / or adjustment unit. Specifically, the pre-given marker parameters are stored in the control and / or adjustment unit. Preferably, in the procedural generation of the optical marker, marker parameters and / or at least one other marker parameter are matched according to at least one pre-given marker parameter. For example, the pre-given marker parameters are constructed as the maximum size and / or basic shape of the optical marker and / or the maximum recognition area, which is particularly described by the number and / or arrangement of structures unfolded from the optical marker and / or the maximum recognition area. It is also conceivable that the maximum size of the optical marker is described by a plurality of minimum recognition areas. Alternatively or additionally, it is conceivable that the maximum size and / or basic shape of the optical marker is described by the shape (e.g., basic shape) and / or aspect ratio of the object to be detected, wherein, in particular, optical markers having similar or identical basic shapes are generated. In another exemplary configuration, the pre-defined marking parameters are configured as distances to the object to be detected, wherein the optical markings are generated, particularly by means of a control and / or adjustment unit, such that at least one minimum recognition area or a pre-defined number of minimum recognition areas of the optical markings are displayed on the object, particularly on the object surface. Preferably, the at least one other marking parameter or at least one other marking parameter is configured as the arrangement of various substructures within the optical markings, particularly within a regular pattern of the structures. For example, the marking parameters and / or at least one other marking parameter are configured as the maximum or minimum size of the optical markings, configured as multiple colors to be used for the structures and / or substructures, etc.

[0012] Furthermore, it is proposed that in at least one method step, optical marks are generated, in particular automatically and / or by means of a control and / or adjustment unit, based on at least one environmental parameter detected, especially by means of a detection unit, wherein at least one mark parameter, especially the aforementioned mark parameter, is matched to the optical mark. This allows for advantageously flexible generation of optical marks. It also allows for advantageously simple matching of optical marks to environment-specific parameters. Preferably, in at least one method step, environmental parameters are detected, in particular continuously or periodically, by means of a detection unit. "Environmental parameters" should be understood in particular as parameters describing the environment surrounding the output unit, the detection unit, and / or the object having the indicated optical mark. Preferably, the environmental parameters describe at least one environment located between the output unit and / or the detection unit and the object to be detected. For example, environmental parameters may be configured as the light density of ambient air, the number and / or size of the object to be detected, the identification of the object to be detected in the detection area, the size of the detection area, especially a pre-given and / or determined size, the illumination intensity of the object to be detected, etc. Preferably, the optical mark is generated by means of a program, through a control and / or adjustment unit, based on at least one environmental parameter and at least one pre-given mark parameter. For example, a visible angular range to be considered is detected by means of a detection unit, within which objects, such as road entrances, moving objects, etc., should be detected, wherein the size and shape of the optical mark are matched to this angular range. This allows for advantageous and efficient utilization of computational power, or reduces the recognition time of patterns projected onto surfaces / objects. Another exemplary configuration is the matching of the colors of the structure and substructures with the light conditions detected by the detection unit in the area to be detected, thereby enabling advantageous, accurate, and rapid recognition of the optical mark.

[0013] Furthermore, it is proposed that, in at least one method step, optical marks are output and / or generated such that substructures are each constructed with a circular shape and centrally arranged within one of a plurality of structures. The circular substructures advantageously prevent the generation of additional corners within the optical marks. This avoids undesirable confusion between structures and substructures and / or ensures advantageously unique, clear, and error-free identification of the structures. The substructures can then be advantageously and simply applied to an existing pattern. Identification of the optical marks can advantageously and simply be performed through correlation. Preferably, the substructures are arranged such that the circular shape... The center point of the substructure is arranged on the centroid of the geometric surface of one of the structures. In particular, the imaging surface of the substructure corresponds to a circular surface. Particularly preferably, at least one substructure is arranged in each minimum recognition region of the optical mark.

[0014] Furthermore, it is proposed that, in at least one method step, optical marks are output and / or generated such that at least nine, preferably at least twelve, and preferably at least sixteen rectangular, particularly square regions of the optical mark arranged closely together form a minimum identification region. An advantageously high maximum size of the optical mark can be achieved, wherein each minimum identification region can be individually and uniquely assigned to a position within the optical mark. An advantageous configuration of the optical mark can be achieved, wherein the identification of partial regions of the optical mark and the determination of the positions of partial regions can be performed independently of the detection of the edges of the optical mark. Preferably, the minimum identification regions are formed by a square arrangement of structures, particularly by a 3×3 matrix or a 4×4 matrix of structures. Preferably, within the optical mark, each partial region of the optical mark having at least the size of a minimum identification region can be uniquely and / or uniquely assigned to a position within the optical mark.

[0015] Furthermore, it is proposed that, in at least one method step, optical markers are output and / or generated such that structures each have one of at least two colors and substructures each have one of at least two other colors, wherein at least one of the two colors has at least substantially the same brightness value as at least one of the other two colors, and wherein, in particular, at least one color and at least one other color are at least substantially indistinguishable by grayscale level recognition. Advantageous, accurate, and unique detection of structures and substructures can be achieved. In particular, the detection of structures and substructures can be advantageously achieved independently of each other. For example, these structures can be detected by grayscale level recognition, where the substructures are invisible. In particular, substructures can be detected by color value recognition, where these structures are invisible. Advantageous and accurate allocation of substructures to structural locations can be achieved. In particular, it is conceivable that the structures and / or substructures of the optical markers each have one of more than two different colors. Preferably, one of the two colors (weitere Farbe) has at least substantially the same brightness value as the other of the two additional colors (weitere andere Farbe), wherein, in particular, the other colors and the other additional colors are at least substantially indistinguishable by grayscale level recognition. Specifically, the two colors, particularly one color and the other color, each have no color value and are preferably constructed as black, white, or in grayscale tones. Particularly preferably, the one color and the other colors are configured for detection by grayscale level recognition. In particular, the one color and the other colors can be distinguished by grayscale level recognition. Particularly preferably, the other colors and the other additional colors are configured for detection by color value recognition. In particular, the other colors and the other additional colors can be distinguished by color value recognition. Preferably, the structural configuration of the optical markers, each having a color or other color, is configured for detection by grayscale level recognition independently of the substructure. Preferably, the substructure configuration of the optical markers, each having another color or other color, is configured for detection by color value recognition independently of the structure. Alternatively, it can be envisioned that the structure and substructures are constructed such that the substructures are detected by means of grayscale level recognition and the structure is detected by means of color value recognition. For example, the structure is constructed as light gray or dark gray, and the substructures are constructed as yellow or blue, respectively. In particular, the light gray structure has the same brightness value / grayscale level as the yellow substructure, and the dark gray structure has the same brightness value / grayscale level as the blue substructure.

[0016] Furthermore, it is proposed that optical marks are generated in such a way, using control and / or adjustment units, that the optical marks, especially the smallest recognizable area, can be uniquely and definitively identified and assigned when mirrored and / or rotated, particularly at angles corresponding to natural multiples of 2π / n. This enables a significantly higher number of applications for the optical marks, such as determining the orientation of objects in space for detecting optical marks, or objects in space with optical marks. Preferably, when the optical marks are mirrored and / or rotated, particularly at angles corresponding to natural multiples of 2π / n, the unique and definitive assignment is configured by the control and / or adjustment units as mark parameters for the programmed generation of the optical marks. In particular, n corresponds to the number of corners of the optical mark's structure, especially the number of the basic shapes of the structure. An angle (in which the optical mark, especially the smallest identification area, can be uniquely and definitively identified and assigned when rotated at this angle) preferably corresponds to a multiple of 90° in the case of a rectangular basic shape of the optical mark structure, particularly to a multiple of 60° in the case of a hexagonal basic shape of the optical mark structure, and / or preferably to a multiple of 120° in the case of a triangular basic shape of the optical mark structure. Particularly preferably, the angle (in which the optical mark, especially the smallest identification area, can be uniquely and definitively identified and assigned when rotated at this angle) corresponds to a multiple of an angle that unfolds from the axis of symmetry of the basic shape of the optical mark structure, particularly within the plane of the optical mark. Preferably, especially when mirrored on an imaginary axis (which is preferably parallel to the axis of symmetry of the basic shape of the optical mark structure and arranged in a common plane with the optical mark), the optical mark, especially the smallest identification area, is preferably uniquely and definitively identified and assigned by the arrangement of substructures within the optical mark and / or the smallest identification area, respectively. Preferably, especially when mirrored on an imaginary plane (which is preferably arranged parallel to the axis of symmetry of the basic shape of the optical mark's structure and perpendicular to the main extension surface of the optical mark), the optical mark, especially the smallest identification region, is preferably uniquely and definitively identifiable and assignable. Preferably, when mirrored and / or rotated at an angle, the optical mark, especially the smallest identification region, is uniquely and definitively identifiable and assignable by the arrangement of substructures within the optical mark, especially the smallest identification region. Preferably, these smallest identification regions are unique, especially within the unrotated optical mark, within the image of the mirrored optical mark, and / or within the image of the optical mark rotated at said angle.

[0017] Furthermore, it is proposed that, in at least one method step, optical marks are optically projected onto the surface of an object using an output unit. This allows for advantageously high flexibility in the use of optical marks. In particular, it is advantageous to detect and / or monitor individual objects, especially their movement, orientation, and / or arrangement, without the need for processing. Preferably, the optical marks are generated using a control and / or adjustment unit and output using an output unit. Alternatively, it is conceivable that the output unit applies, for example, the optical marks onto the surface of the object. Alternatively, it is conceivable that the object, especially the marking device, has optical marks, wherein, particularly during the manufacture of the object, the optical marks are arranged on or constructed onto the object using an output unit.

[0018] Furthermore, it is proposed that optical marks are generated by means of control and / or adjustment units such that at least one piece of information is transmitted within the minimum recognition area of ​​the optical mark, either by the arrangement of substructures in the respective minimum recognition areas, or by the arrangement of a portion of a substructure arranged within the minimum recognition area, particularly relative to the structure arranged within the minimum recognition area. This allows for advantageously high flexibility in the use of the optical marks. Preferably, information can be transmitted, particularly independently of other sensors, by detecting the optical mark or a portion thereof. For example, parameters originally generated, such as the edge length of a single structure, can be transmitted by the arrangement of the substructures, wherein, in particular, the distance from the object with the optical mark to the detection unit can be determined. For example, the information is constructed as geometric parameters within the optical mark, particularly when observed in a fixed projection plane relative to the output unit or on the surface including the optical mark. In particular, it is conceivable that the information additionally includes a reference plane for the geometric parameters, such as the aforementioned projection plane. Alternatively or additionally, it is conceivable that the information includes the identification number of the output unit that outputs the optical mark. For example, if multiple output units are used in a region, the allocation of detected optical marks can be achieved thereby. It is conceivable that substructures for transmitting information are arranged within the optical mark in a pre-given pattern and / or at a pre-given spacing, wherein, in particular, substructures outside such a pattern do not contribute to the transmission of information. Specifically, the pre-given pattern is stored in a control and / or adjustment unit and / or a detection unit in at least one method step. Information is preferably encoded by means of the control and / or adjustment unit through the arrangement of substructures in each minimum recognizable region of the optical mark. In a preferred configuration, the arrangement of the substructures transmits, for example, a measure of the length of the structure, wherein, particularly upon detection of the illustrated optical mark, the distance to the object to be observed and / or the size of the object to be observed can be determined.

[0019] Furthermore, it is proposed that, in at least one method step, optical marks are output and / or generated such that the angular structures each have a basic triangular shape. This allows for an advantageously high density of structures within the optical marks. It also allows for an advantageously compact size of the optical marks, especially when the information density of the optical marks remains consistently high.

[0020] The present invention is also based on a method for identifying optical marks, particularly optical marks generated by a method according to the invention for generating optical marks for image processing, photogrammetry and / or motion detection, wherein, in at least one method step, at least one visible portion of the optical mark on a surface is detected by means of at least one detection unit and at least one pattern of the portion is obtained by means of at least one analysis processing unit, wherein, in at least one method step, the intersection of structures of the optical mark arranged in the portion and the arrangement of substructures of the optical mark in the pattern are obtained by means of an analysis processing unit for determining the position of the portion within the optical mark by means of color and / or contrast analysis processing, and / or for obtaining the configuration and / or arrangement of the surface.

[0021] The method configuration according to the invention can advantageously achieve the detection of the surface and / or the object to be detected. In particular, monitoring of, for example, the area surrounding the detection unit can be achieved via optical markers. The spatial arrangement of the surface and / or object can be advantageously determined through the allocation of partial regions. Thus, highly accurate detection of optical markers can be achieved, in particular. Preferably, advantageously simple and error-free partial region detection and partial region allocation can be achieved through the ratio of the imaging surface of the substructure to the projection surface of the structure.

[0022] Preferably, the method for identifying optical marks is configured to identify optical marks generated by a control and / or adjustment unit and output by an output unit, particularly based on the detected partial regions of the optical marks. Preferably, at least one signal, particularly an electronic signal, including the detected partial regions, is transmitted from the detection unit to the analysis and processing unit. In a preferred configuration, in at least one method step, particularly for determining the intersections of structures and / or the arrangement of substructures, the detection unit identifies the detected structures by grayscale levels and the detected substructures by color values. Preferably, the structures and substructures are detected independently of each other, particularly in one method step or in two different method steps, using the detection unit. The arrangement of substructures in the partial regions is determined, particularly based on the detected intersections of the structures in the partial regions. Preferably, using the detection unit for determining the arrangement of substructures in the partial regions, particularly based on the shape and / or arrangement of the optical mark structure, at least one color value, grayscale level, and / or contrast value relative to the intersection is determined at at least one point and compared with at least one reference value. For example, especially in the case of a checkerboard configuration of the optical mark structure, the intersections at the corners of the square structures in a partial region are determined by means of a detection unit, which in particular forms a grid arrangement with square cells. Preferably, the color value, gray level, and / or contrast value are determined by the detection unit from the intersections at the corners or geometric centers of the square cells in the determined grid arrangement. Preferably, the color of the structure is detected by the determined color value, gray level, and / or contrast value at the corners of the square cells. Preferably, the color of the substructure or the presence of the substructure in the corresponding structure is determined by the determined color value, gray level, and / or contrast value at the geometric center of the square cells. The partial region is particularly constructed as a visible and / or detectable portion of the output optical mark image on a surface. Preferably, the determined pattern includes an arrangement of at least the following structures: a structure that does not have substructures, especially those arranged within the structure, in the partial region; and a structure that has substructures, especially those arranged within the structure, in the partial region. Preferably, the deformation or curvature representation of the optical mark on the surface can be determined by means of the analysis and processing unit based on the arrangement of the intersection points. Preferably, when determining the position of a partial area within the optical mark, the determined deformation and / or curvature representation of the optical mark is considered by means of the analysis and processing unit. For example, corners and / or points within the partial area are determined for pattern generation based on the determined deformation and / or curvature representation of the optical mark, and / or based on the arrangement of intersection points in the projection plane of the detection unit (wherein, in particular, the partial area is recorded).

[0023] Furthermore, it is proposed that, in at least one method step, and particularly in the at least one method step, an analysis processing unit for determining the position of a partial region within an optical mark performs a correlation (Korrelation) of the obtained pattern of the partial region, particularly the correlation of the obtained arrangement of the obtained intersections and / or substructures with at least one of a plurality of stored reference patterns. An advantageously simple allocation of the partial region to one of the stored reference patterns can be performed. For example, an advantageously simple identification of rotation or mirroring of the optical mark in the partial region can be recognized. Preferably, the reference patterns are stored in the analysis processing unit, particularly before detecting the partial region and / or the optical mark. Preferably, the obtained pattern and the reference pattern are each constructed as an arrangement of multiple fields, each having one of two different colors. Preferably, the positions of the fields correspond to the positions of the structures of the optical mark. Preferably, one color of the corresponding field corresponds to a structure without substructures, and the other colors of the corresponding field correspond to structures with substructures. This configuration of the pattern and / or reference pattern enables advantageously fast analysis processing and advantageously low computational overhead of the analysis processing unit. Preferably, at least one of the plurality of reference patterns depicts the complete optical mark. Preferably, at least one other reference pattern among the plurality of reference patterns depicts the complete optical mark as follows: the optical mark is particularly depicted as a mirror image relative to the reference pattern. Preferably, at least one other reference pattern among the plurality of reference patterns, particularly three other reference patterns, depicts the complete optical mark as follows: the optical mark is particularly depicted as an optical mark rotated by a multiple of 90° relative to the reference pattern, wherein, in particular, each of the other reference patterns depicts a different configuration of the rotated optical mark, particularly for 90°, 180°, and 270°. Alternatively or additionally, it is conceivable to divide the optical mark into a plurality of reference patterns. Particularly if the optical mark is matched during the generation or output of the optical mark, it is conceivable that, in at least one method step, particularly before detecting or comparing a portion of the region with the reference pattern, the reference pattern, particularly similar to the output and / or shown optical mark, is matched in the same way by means of an analysis processing unit and / or a control and / or adjustment unit. Preferably, in at least one method step, the information transmitted through the arrangement of the substructure is decrypted by means of an analysis processing unit. It is conceivable that, in at least one method step, information is output to a user via an operating unit, and / or, in at least one method step, the information is considered for further analysis and processing, such as for determining the distance of the surface relative to the detection unit and / or for determining the size of the object. Preferably, at least one reference pattern is stored in the analysis and processing unit for each arrangement of the optical mark to be identified (e.g., a rotated arrangement or a mirrored arrangement).Alternatively, it can be envisioned that a reference pattern is programmatically obtained, and in particular merged, and stored in the analysis and processing unit by means of a control and / or adjustment unit and / or an analysis and processing unit, based on a portion of the pattern and / or optical mark detected by the detection unit.

[0024] Furthermore, it is proposed that, in at least one method step, with the aid of an analysis processing unit, error characteristic parameters are calculated for each possible position of the obtained pattern of the partial region within the optical mark, wherein the position of the partial region within the optical mark is determined based on the calculated error characteristic parameters. Advantageously accurate determination of the position of the partial region can be achieved. In particular, in the case of one or more misidentified structures and / or substructures, the allocation of the partial region within the optical mark can also be advantageously performed. Preferably, the partial region is allocated within the optical mark to the position with the minimum value of the error characteristic parameter among all possible positions, using the analysis processing unit. Preferably, the error characteristic parameters are calculated for each possible position of the partial region within the optical mark by comparing the obtained pattern of the partial region with a reference region of a reference pattern. In particular, the reference region is constructed such that the reference region and the obtained pattern of the partial region have the same shape, especially regarding the number of arrangements and structures. For example, the error characteristic parameters correspond respectively to the number of inconsistent structures and / or substructures in the obtained pattern of the partial region relative to the reference region. Preferably, by means of an analysis and processing unit, especially before obtaining the error characteristic parameters, the possible position of the obtained pattern in the partial region within the optical mark is obtained based on the shape of the obtained pattern in the partial region and the basic shape of the reference pattern, especially the reference pattern assigned to the optical mark.

[0025] Furthermore, a method for image processing, for photogrammetry, and / or for motion detection is proposed, wherein at least one optical mark is generated by means of a method for generating optical marks according to the invention, wherein the optical mark is identified by means of a method for identifying optical marks according to the invention.

[0026] The method configuration according to the invention enables advantageously simple and accurate identification of objects and / or surfaces. When identifying objects or surfaces, the optical markers allow for an advantageously low error probability. An advantageously high detection range can be achieved. Advantageously unique, clear, and rapid allocation of the detected portion of the optical marker within the marker is possible. For example, even in cases of poor resolution of the optical marker or under poor recording conditions (e.g., smoke, darkness, etc.), advantageously good identification of the substructures of the optical marker can be achieved.

[0027] Additionally, a marking device for image processing, photogrammetry, and / or motion detection is proposed, having at least one optical mark generated by the method for generating optical marks according to the invention.

[0028] The configuration of the marking device according to the invention enables advantageously simple and accurate identification of the position, movement, and / or orientation of the marking device. An advantageously large maximum identification range can be achieved, from which the position, movement, and / or orientation of the marking device can still be identified with a sufficiently high probability. An advantageously low minimum resolution of the optical markers can be achieved, at which the position, movement, and / or orientation of the marking device can still be identified with a sufficiently high probability by the optical markers. An advantageously low error probability can be achieved when identifying the marking device. This enables advantageously unique, clear, and rapid allocation of the visible portion of the marking device. For example, even in cases of poor resolution of the optical markers or under poor recording conditions (e.g., smoke, darkness, etc.), advantageously good identification of the substructures of the optical markers can be achieved.

[0029] Preferably, in at least one operating state, optical marks are arranged, in particular, imaged or printed on the marking device. Preferably, the marking device is constructed and / or arranged separately from the detection unit. In a preferred configuration, the marking device is configured to display objects for optical marking, wherein, in particular, the marking device is constructed and / or arranged separately from the output unit, analysis and processing unit, and / or control and / or adjustment unit. The marking device preferably does not include a function for outputting optical marks. Alternatively or additionally, it is conceivable that the marking device is configured to project and / or image optical marks onto the surface of the marking device, wherein, in particular, the marking device includes at least an output unit.

[0030] The methods for generating optical marks according to the present invention, the methods for identifying optical marks according to the present invention, the methods for image processing, photogrammetry, and / or motion detection according to the present invention, and / or the marking apparatus according to the present invention, are not to be limited to the applications and embodiments described above. In particular, the methods for generating optical marks according to the present invention, the methods for identifying optical marks according to the present invention, the methods for image processing, photogrammetry, and / or motion detection according to the present invention, and / or the apparatus according to the present invention have quantities different from the quantities of the various elements, components, units, and method steps mentioned herein, to satisfy the operating mode described herein. Furthermore, in the case of the value ranges stated in this disclosure, values ​​within the mentioned limits should also be considered disclosed and considered to be freely usable. Attached Figure Description

[0031] Other advantages will become apparent from the following description of the accompanying drawings. Five embodiments of the invention are illustrated in the drawings. The drawings, description, and claims contain combinations of numerous features. Those skilled in the art will also consider these features individually and combine them into other meaningful combinations in a manner appropriate to the purpose.

[0032] The attached diagram shows:

[0033] Figure 1 A schematic diagram showing a portion of an exemplary configuration of an optical marker, which is generated by and can be identified by the method according to the invention.

[0034] Figure 2 A schematic diagram is shown of a control and / or adjustment unit for generating optical marks, an output unit for visually generating optical marks, and a detection unit for detecting optical marks.

[0035] Figure 3 A schematic diagram illustrating an exemplary process for generating optical markers according to the present invention is shown.

[0036] Figure 4 A schematic diagram illustrating an exemplary process of a method for identifying optical markers according to the present invention is shown.

[0037] Figure 5 A schematic diagram illustrating the structure and substructure detection method of optical markers is shown.

[0038] Figure 6 The image shows a coded pattern of a portion of the optically marked area after detection.

[0039] Figure 7 A reference pattern of optical markers is shown for the detected partial area used to assign optical markers.

[0040] Figure 8 A schematic diagram of a first alternative configuration having an optical mark that matches an exemplary basic shape of the object to be detected is shown.

[0041] Figure 9 A schematic diagram showing an exemplary partial region of a second alternative configuration of an optical marker with a triangular structure is provided.

[0042] Figure 10 A schematic diagram of an exemplary partial region of an optical marker having two different structural types and two different structural types of substructures is shown.

[0043] Figure 11 A schematic diagram of an exemplary partial region of a fourth alternative configuration of an optical marker is shown, the optical marker having information encoded into the optical marker through the arrangement of its substructures. Detailed Implementation

[0044] exist Figure 1 The diagram shows a portion 10a of an exemplary configuration of the optical mark 12a. The optical mark 12a is generated by means of a method 14a for generating an optical mark 12a for image processing, photogrammetry, and / or motion detection using an output unit 96a and a control and / or adjustment unit 94a (see [link to diagram]). Figure 2 Preferably, the optical mark 12a is configured to be detected and identified by means of a method 16a for identifying optical marks 12a used for image processing, photogrammetry, and / or motion detection. The output unit 96a and the control and / or adjustment unit 94a are in... Figure 2 As shown in the diagram. The optical mark 12a is formed by a regular pattern composed of multiple angular structures 18a and by multiple substructures 20a. Along the projection plane of the optical mark (this projection plane is particularly in...) Figure 1 When viewed from at least two mutually perpendicular directions 22a and 24a (corresponding to the image plane), at least two directly adjacent structures 18a each have distinct colors, wherein the color sequence of the plurality of structures 18a repeats periodically along the two directions 22a and 24a. The structures 18a are arranged in a checkerboard pattern. The structures 18a are each constructed to be black or white. Substructures 20a are each completely arranged within one of the structures 18a. The substructures 20a each have an imaging surface 26a, which corresponds to at least 15%, preferably at least 20%, and preferably at least 24% of the projection surface 28a that is largest to be expanded from one of the structures 18a. In particular, the imaging surface 26a of each substructure 20a corresponds at least substantially to 24.1% of the projection surface 28a of each structure 18a. The substructures 20a of the optical marker 12a are each constructed in a circular shape and are centrally arranged within one of the plurality of structures 18a. The imaging surface 26a of each substructure 20a is constructed as a circular surface. The projection surface 28a of each structure 18a is constructed as a square surface region. Substructures 20a each have a different color from the structures 18a in which the corresponding substructures 20a are arranged. Substructures 20a are constructed as either black or white. Specifically, substructures 20a arranged in black structures 18a are constructed as white, and substructures 20a arranged in white structures 18a are constructed as black. Optical marks 12a are formed by a plurality of unique minimum identification regions 30a within each optical mark 12a. Each minimum identification region 30a is formed by a plurality of structures 18a arranged close together and by at least one substructure 20a. The square regions of the optical mark 12a formed by the 16 closely arranged structures 18a each constitute a minimum identification region 30a. The structures 18a forming the minimum identification regions 30a are arranged in a 4×4 matrix. However, other configurations of the minimum identification regions 30a are also conceivable. The optical mark 12a, and especially the minimum identification region 30, is constructed such that the optical mark 12a, and especially the minimum identification region 30a, can be uniquely and definitively identified and assigned when mirrored and / or when rotated, especially at angles corresponding to natural multiples of 2π / n. Figure 1 In this context, the angle (where optical mark 12a, and especially the minimum identification area 30a, can be uniquely and definitively identified and assigned when rotated at this angle) corresponds to a multiple of 90°. Figure 1 The portion 10a shown is preferably imaged, particularly projected, onto the object 32a, especially the marking device 32a. Specifically, the marking device / object 32a is configured to be detected by an optical mark 12a for image processing, photogrammetry, and / or motion detection. The surface 34a of the marking device / object 32a is particularly planar, and the optical mark 12a (especially...) Figure 1 The portion 10a shown is imaged onto the surface. Other configurations of the optical mark 12a, particularly structure 18a and / or substructure 20a, are also conceivable, for example, having different colors for structure 18a and / or substructure 20a, having multiple different shapes for structure 18a and / or substructure 20a, etc. The structure 18a of the optical mark 12a, particularly all structures 18a, are constructed identically. Each structure 18a has a basic square shape. The substructure 20a of the optical mark 12a, particularly all substructures 20a, are constructed identically.

[0045] exist Figure 2The diagram illustrates an exemplary configuration of a control and / or adjustment unit 94a, an output unit 96a, a detection unit 98a, and an analysis and processing unit 100a. The control and / or adjustment unit 94a includes, in particular, at least one computing unit 102a configured as a processor, a microcontroller, an FPGA, etc., for programmatically generating optical marks 12a. The output unit 96a is configured, for example, as an optical projector, for projecting the optical marks 12a onto an object 32a, particularly a surface 34a. However, it is also conceivable that the output unit 96a may be configured as a display, a structured field emitting light, etc., and may be part of the object 32a. Alternatively, it is conceivable that the output unit 96a may be configured as a printer, a stamp, a surface treatment device (e.g., a laser), etc., and is particularly configured to make the optical marks 12a visible on the object 32a, particularly the surface 34a, for example, through printing. Preferably, the control and / or adjustment unit 94a is at least temporarily connected to the output unit 96a, wherein, in particular, information is transmitted from the control and / or adjustment unit 94a to the output unit 96a, the information including at least the generated and to-be-output optical mark 12a. The detection unit 98a includes at least one sensor element 104a for detecting the optical mark 12a on the object 32a, and in particular, the image of the optical mark 12a on a partial area 10a of the object 32a. The sensor element 104a is preferably configured as a camera. However, other configurations of the detection unit 98a, and in particular the sensor element 104a, are also conceivable. The detection unit 98a preferably includes other sensor elements 106a for detecting at least one environmental parameter. Alternatively or additionally, it is conceivable that at least one environmental parameter is detected by means of the sensor element 104a of the detection unit 98a. The analysis and processing unit 100a includes at least one computing unit 108a configured as a processor, a microcontroller, an FPGA, etc., for analyzing and processing the detected optical mark 12a, particularly the detected portion 10a of the optical mark 12a. Preferably, the analysis and processing unit 100a is connected to the detection unit 98a. However, other configurations of the control and / or adjustment unit 94a, the output unit 96a, the detection unit 98a, and / or the analysis and processing unit 100a are also contemplated. For example, it is contemplated that the control and / or adjustment unit 94a and the analysis and processing unit 100a are integrally constructed. Alternatively or additionally, it is contemplated that the output unit 96a and the detection unit 98a are arranged / constructed together, for example, as part of a calibration system.

[0046] exist Figure 3An exemplary flow diagram is shown for a method 14a for generating optical markers 12a for image processing, photogrammetry, and / or motion detection using an output unit 96a and a control and / or adjustment unit 94a. In method step 36a of method 14a, at least one environmental parameter is detected using a detection unit 98a, particularly sensor element 104a and / or other sensor elements 106a. It is conceivable that at least one feature of the object 32a to be detected using the optical markers 12a is detected using the detection unit 98a. In another method step 38a of method 14a, at least one or more marker parameters are pre-defined by a user via an operation unit and / or based on the features of the object 32a to be detected using the optical markers 12a detected by the detection unit 98a.

[0047] In another method step 40a of method 14a, an optical mark 12a is generated by means of a control and / or adjustment unit 94a according to at least one pre-given mark parameter generated by a program, wherein at least the mark parameter and / or at least one other mark parameter of the optical mark 12a are matched. In the method steps of method 14a, particularly method step 40a, the optical mark 12a is generated by means of the control and / or adjustment unit 94a according to at least one environmental parameter, particularly an environmental parameter detected by means of a detection unit 98a, particularly automatically and / or by means of a program, wherein at least one mark parameter of the optical mark is matched. The optical mark 12a is generated in such a way by means of the control and / or adjustment unit 94a that the optical mark 12a, particularly the minimum recognition area 30a, can be uniquely and definitively identified and assigned in a mirror image and / or when rotated, particularly at angles corresponding to natural multiples of 2π / n.

[0048] In another method step 42a of method 14a, an optical mark 12a is output and / or generated such that the illustrated optical mark 12a is formed by a regular pattern 44a consisting of a plurality of angular structures 18a and by a plurality of substructures 20a, which are respectively, in particular, completely arranged within one of the structures 18a, wherein, when viewed along the projection plane of the optical mark 12a in two mutually perpendicular oriented directions 22a, 24a, at least two directly adjacent structures 18a respectively have different colors from each other, wherein the color sequence of the plurality of structures 18a repeats periodically along the two directions 22a, 24a, and the optical mark 12a is formed by a plurality of minimum identifiable regions 30a, each unique within the optical mark 12a. In the method steps of method 14a, particularly method step 42a, the optical mark 12a is output and / or generated such that the substructures 20a each have an imaging surface 26a, which corresponds to at least 15%, preferably at least 20%, and preferably at least 24% of the maximum projection surface 28a unfolded from the structure 18a. In the method steps of method 14a, especially method step 42a, optical marks 12a are output and / or generated such that substructures 20a are each constructed in a circular shape and centrally arranged within one of the plurality of structures 18a. In the method steps of method 14a, especially method step 42a, optical marks 12a are output and / or generated such that the rectangular, especially square regions of the optical marks 12a, which are unfolded from at least 9, preferably at least 12, and preferably 16 structures 18a arranged closely together, each form a minimum identification region 30a.

[0049] Alternatively, it is conceivable that in the method steps of method 14a, such as method step 42a, optical marker 12a is output and / or generated such that structure 18a has one of at least two colors and substructure 20a has one of at least two other colors, wherein at least one of the two colors and at least one of the other colors have at least substantially the same brightness value, wherein, in particular, at least one color and at least one other color are at least substantially indistinguishable by grayscale level recognition. It is also conceivable that optical marker 12a is generated by means of control and / or adjustment unit 94a such that, within the minimum recognition region 30a of optical marker 12a, at least one piece of information is conveyed, either by the arrangement of substructure 20a within the respective minimum recognition region 30a or by a portion of substructure 20a arranged within the minimum recognition region 30a, particularly relative to the arrangement of structure 18a within the minimum recognition region 30a.

[0050] In another method step 46a of method 14a, the optical mark 12a is optically projected onto the surface 34a of the object 32a by means of the output unit 96a.

[0051] exist Figure 4 An exemplary flow diagram is shown for a method 16a for identifying an optical mark 12a for image processing, photogrammetry, and / or motion detection. In method step 48a of method 16a, a visible portion 10a of the optical mark 12a on surface 34a is detected by means of a detection unit 98a. Preferably, the detected portion 10a is electronically transferred from the detection unit 98a to the analysis and processing unit 100a. In another method step 50a of method 16a, at least one pattern 52a of the portion 10a is obtained by means of the analysis and processing unit 100a, in particular, based on the detected portion 10a (see [link to analysis and processing unit]). Figure 6 In another method step 54a of method 16a, the intersection point 56a of the structures 18a of the optical marker 12a arranged in the partial region 10a is determined by means of an analysis processing unit 100a for determining the position of the partial region 10a within the optical marker 12a and / or determining the configuration and / or arrangement of the surface 34a through color and / or contrast analysis processing (see...). Figure 5 The arrangement of the substructure 20a in the pattern 52a and the arrangement of the optical mark 12a. Preferably, it is conceivable that the structure 18a and the substructure 20a in the partial region 10a are detected independently by means of the detection unit 98a by means of gray level recognition or color value recognition respectively. In another method step 58a of method 16a, the obtained pattern 52a of the partial region 10a, especially the obtained intersection 56a and / or the obtained arrangement of the substructure 20a, are compared with a plurality of reference patterns, especially at least one of the plurality of reference patterns 60a stored in the analysis processing unit 100a (see Figure 7 Related to ). In the method steps of method 16a, especially method step 58a, with the aid of the analysis processing unit 100a, for each possible position of the obtained pattern 52a of the partial region 10a within the optical mark 12a or the reference pattern 60a, error characteristic parameters are obtained, wherein the position of the partial region 10a within the optical mark 12a is determined based on the obtained error characteristic parameters.

[0052] Preferably, by means especially regarding Figure 3 and Figure 4 The combination of the two methods 14a and 16a described in the description can be conceived for image processing, for photogrammetry and / or for motion detection, method 62a, wherein, according to particularly regarding Figure 3The method 14a for generating optical mark 12a as described in the description generates optical mark 12a, wherein, according to particularly regarding Figure 4 The method 16a for identifying optical mark 12a as described in the description identifies optical mark 12a. The object 32a that images optical mark 12a, especially a portion 10a of optical mark 12a, is preferably transformed by methods 14a, 16a, and 62a into a marking device 32a for image processing, for photogrammetry, and / or for motion detection.

[0053] exist Figure 5 The diagram schematically illustrates a detection method for determining, with the aid of an analysis processing unit 100a, the pattern 52a of a detected portion 10a of an optical mark 12a, particularly the intersection 56a of structures 18a, and the arrangement of substructures 20a within structure 18a. Specifically, the arrangement of substructures 20a within the portion 10a is determined based on the detected intersection 56a of structures 18a within the portion 10a. Preferably, with the aid of a detection unit 98a for determining the arrangement of substructures 20a within the portion 10a, particularly based on the shape and / or arrangement of structures 18a of the optical mark 12a, at least one color value, grayscale level, and / or contrast value is determined relative to intersection 56a at at least one point 64a, and compared with at least one reference value. In a checkerboard configuration of structures 18a of the optical mark 12a, intersection 56a is determined at the corners of square structures 18a within the portion 10a with the aid of the detection unit 98a, which in particular form a grid arrangement having square cells 65a. Preferably, based on the obtained intersection point 56a, the geometric center point 66a of each unit cell 65a in the grid arrangement is obtained. Based on the geometric center point 66a of the unit cell 65a, the corner point 68a of the structure 18a is determined in the direction surrounding the intersection point 56a of the center point 66a. By determining the contrast value between the geometric center point 66a of the unit cell 65a and the corner point 68a of the corresponding structure 18a surrounding the corresponding geometric center point 66a, the arrangement of the substructure 20a within the structure 18a is determined by the analysis processing unit 100a. If no contrast is obtained for the corner point 68a and the geometric center point 66a of the structure 18a, or if the obtained contrast value is lower than the stored limit value, then the substructure 20a is not detected within the corresponding structure 18a. If the obtained contrast value is higher than the stored limit value, this is particularly applicable in Figure 5The center point 66a shown in the diagram identifies the substructure 20a within the corresponding structure 18a. It is also conceivable to detect the color of the corresponding structure 18a using the obtained color values, gray levels, and / or contrast values ​​at the corner points 68a of the square cell 65a. Additionally, it is conceivable to detect the color of the corresponding substructure 20a, or to determine the presence of the substructure 20a within the corresponding structure 18a, using the obtained color values, gray levels, and / or contrast values ​​at the geometric center point 66a of the square cell 65a. Preferably, the determined pattern 52a includes at least the following arrangements: structures 18a that do not have (especially those arranged within) substructures 20a in a portion of the region 10a, and structures 18a that have (especially those arranged within) substructures 20a in a portion of the region 10a.

[0054] exist Figure 6 The image shows a pattern 52a obtained by the analysis and processing unit 100a from the detected portion 10a of the optical mark 12a. If based on, especially... Figure 5 The detection method described herein uses an analysis and processing unit 100a to obtain the substructure 20a within the structure 18a of the optical mark 12a, and then marks the corresponding structure 18a within the pattern 52a with a color. If, in particular, Figure 5 If the detection method described herein fails to determine the substructure 20a within the structure 18a of the optical mark 12a using the analysis and processing unit 100a, then the corresponding structure 18a within the pattern 52a is marked with an additional color. Specifically, the determined pattern 52a is formed by multiple color fields 70a, 72a, which respectively depict the arrangement of the structures 18a in a portion of the region 10a and each has one color or another color. Preferably, color field 70a of the multiple color fields 70a, 72a has the stated one color, and the additional color field 72a of the multiple color fields 70a, 72a has the stated additional color.

[0055] exist Figure 7One of the reference patterns 60a of the optical mark 12a is fully shown in the image. The reference pattern 60a, particularly similar to the desired pattern 52a, is formed by color fields 70a, 72a, which respectively depict the arrangement of the structures 18a of the optical mark 12a, and in particular have one color or another color depending on the arrangement of the substructures 20a within the respective structures 18a. To determine the position of the detected partial region 10a within the optical mark 12a, the desired pattern 52a of the partial region 10a is correlated with the reference pattern 60a, and in particular with multiple reference patterns 60a, using the analysis processing unit 100a. For each possible position of the desired pattern 52a of the partial region 10a within the optical mark 12a or the reference pattern 60a, an error characteristic parameter is calculated using the analysis processing unit 100a, wherein the position of the partial region 10a within the optical mark 12a or the reference pattern 60a is determined based on the calculated error characteristic parameter. Preferably, for each possible position of the desired pattern 52a within the reference pattern 60a, the desired pattern 52a (see...) is... Figure 6 When comparing the obtained pattern 52a with the reference pattern 60a, the arrangement of the color fields 70a and 72a of the obtained pattern 52a and the reference pattern 60a at corresponding positions is compared. Particularly when the color fields 70a and 72a at the position of structure 18a are different from each other, the value of the error characteristic parameter assigned to that position of pattern 52a is increased by a fixed value, for example, 1. Preferably, the partial region 10a is assigned by the analysis processing unit 100a to the position within the optical mark 12a that has the minimum value of the error characteristic parameter among all possible positions. Preferably, this is done by comparing the obtained pattern 52a of the partial region 10a with the reference region 74a of the reference pattern 60a (in... Figure 7 (Example shown) A comparison is made, and error characteristic parameters are calculated for each possible position of partial region 10a within optical mark 12a. Specifically, reference region 74a is constructed such that reference region 74a and the calculated pattern 52a of partial region 10a have the same shape, particularly regarding the arrangement and number of structures 18a. For example, the error characteristic parameters correspond respectively to the number of inconsistent structures 18a and / or substructures 20a in the calculated pattern 52a of partial region 10a relative to the corresponding reference region 74a. Preferably, by means of analysis processing unit 100a, particularly before calculating the error characteristic parameters, the possible positions of the calculated pattern 52a of partial region 10a within optical mark 12a are calculated based on the shape of the calculated pattern 52a of partial region 10a and the basic shape of the reference pattern 60a of optical mark 12a and / or the basic shape of optical mark 12a. The calculated pattern 52a and reference pattern 60a are compared in... Figure 6 and Figure 7 In the configuration shown, the position 76a of the determined partial region 10a within the optical mark 12a is preferably determined at the upper left corner of the optical mark 12a. Preferably, the determined pattern 52a is compared with a plurality of reference patterns 60a to determine the position of the detected partial region 10a within the optical mark 12a, wherein the reference patterns 60a correspond, for example, to mirrored or rotated optical marks 12a respectively.

[0056] exist Figures 8 to 11 Other embodiments of the invention are illustrated below. The following description and drawings are essentially limited to the differences between these embodiments, wherein reference may also be made to the drawings and / or the description of other embodiments, particularly, regarding components with the same reference numerals, especially components having the same reference numerals. Figures 1 to 7 To distinguish these embodiments, in Figures 1 to 7 The letter 'a' is placed after the reference numerals in the embodiments shown in the figures. Figures 8 to 11 In some embodiments, the letter 'a' is replaced by letters 'b' through 'e'. Specifically, in... Figures 8 to 11 The optical markers described herein are generated using a method for generating optical markers (see [link to documentation]). Figure 3 The output and / or generation are achieved by means of the output unit 96a and / or the control and / or adjustment unit 94a, such that these optical marks have the configurations shown respectively.

[0057] exist Figure 8 The image shows a first alternative configuration of the optical mark 12b. The optical mark 12b is achieved by means of a method particularly similar to... Figure 3 The method 14a described herein is used to construct a system for use with an output unit and a control and / or regulation unit (in... Figure 8 (Not shown) A method for generating optical markers 12b for image processing, photogrammetry, and / or motion detection is used. Preferably, the optical markers 12b are configured using a method particularly similar to that in... Figure 4The method 16a described herein is a method for detecting and identifying optical markers 12b used for image processing, photogrammetry, and / or motion detection. The optical markers 12b shown are formed by a regular pattern 44b consisting of a plurality of angular structures 18b and by a plurality of substructures 20b, each fully arranged within one of the structures 18b. When viewed along the projection plane of the optical marker 12b in two mutually perpendicular directions 22b, 24b, at least two directly adjacent structures 18b each have a different color from each other. The color sequence of the plurality of structures 18b repeats periodically along the two directions 22b, 24b. The optical marker 12b is formed by a plurality of minimum identifiable regions 30b, each unique within the optical marker 12b. Each substructure 20b has an imaging surface 26b corresponding to at least 15%, preferably at least 20%, and preferably at least 24% of the projection surface 28b, which is the largest projection surface unfolded from one of the structures 18b. Figure 8 The optical mark 12b shown has the same characteristics as in Figures 1 to 7 The optical mark 12a described in the description has at least a substantially similar configuration, thus relating to the optical mark 12a described in the description. Figure 8 The configuration of the optical mark 12b shown can at least substantially refer to Figures 1 to 7 The description. And in Figures 1 to 7 The optical mark 12a described in the description is different, in Figure 8 The optical mark 12b shown preferably has a basic shape 78b other than the square basic shape. Preferably, the basic shape 78b of the optical mark 12b is matched according to the configuration of the object 32b to be detected by means of a control and / or adjustment unit, or is created by program generation based on multiple detected partial regions 10b and / or patterns.

[0058] exist Figure 9 The image shows a second alternative configuration of the optical mark 12c. The optical mark 12c is achieved by means of a method particularly similar to... Figure 3 The method 14a described herein is used to construct a system for use with an output unit and a control and / or regulation unit (in... Figure 9 (Not shown) A method for generating optical markers 12c for image processing, photogrammetry, and / or motion detection is used. Preferably, the optical markers 12c are configured using a method particularly similar to that in... Figure 4The method 16a described herein is a method for detecting and identifying optical markers 12c used for image processing, photogrammetry, and / or motion detection. The optical markers 12c shown are formed by a regular pattern 44c consisting of a plurality of angular structures 18c and by a plurality of substructures 20c, each fully arranged within one of the structures 18c. When viewed along the projection plane of the optical marker 12c in two mutually perpendicular directions 22c, 24c, at least two directly adjacent structures 18c each have a different color from each other. The color sequence of the plurality of structures 18c repeats periodically along the two directions 22c, 24c. The optical marker 12c is formed by a plurality of minimum identifiable regions 30c, each unique within the optical marker 12c. Each substructure 20c has an imaging surface 26c corresponding to at least 15%, preferably at least 20%, and preferably at least 24% of the projection surface 28c that is largest when expanded from one of the structures 18c. Figure 9 The optical mark 12c shown has the same characteristics as in Figures 1 to 7 The optical mark 12a described in the description has at least a substantially similar configuration, thus relating to the optical mark 12a described in the description. Figure 9 The configuration of the optical mark 12c shown can at least substantially refer to Figures 1 to 7 The description. And in Figures 1 to 7 The optical mark 12a described in the description is different, in Figure 9 The angular structures 18c of the optical mark 12c shown preferably each have a basic triangular shape. Specifically, the basic shape of each structure 18c is constructed as an equilateral triangle. The projection surface 28c of each structure 18c of the optical mark 12c is constructed as a surface region of an equilateral triangle. Preferably, in the method steps of this method, the optical mark 12c is output and / or generated such that the angular structures 18c each have a basic triangular shape.

[0059] exist Figure 10 The diagram shows a third alternative configuration of the optical mark 12d. The optical mark 12d is achieved by means of a method particularly similar to... Figure 3 The method 14a described herein is used to construct a system for use with an output unit and a control and / or regulation unit (in... Figure 10 (Not shown) A method for generating optical markers 12d for image processing, photogrammetry, and / or motion detection is used. Preferably, the optical markers 12d are configured using a method particularly similar to that in... Figure 4The method 16a described herein is a method for detecting and identifying optical markers 12d used for image processing, photogrammetry, and / or motion detection. The optical markers 12d shown are formed by a regular pattern 44d consisting of multiple angular structures 18d and 80d, and by multiple substructures 20d and 82d, each completely arranged within one of the structures 18d and 80d. When viewed along the projection plane of the optical marker 12d in two mutually perpendicular directions 22d and 24d, at least two directly adjacent structures 18d and 80d each have a different color. The color sequence of the multiple structures 18d and 80d repeats periodically along the two directions 22d and 24d. The optical marker 12d is formed by multiple minimally identifiable regions 30d, each unique within the optical marker 12d. Substructures 20d and 82d each have an imaging surface 26d, which corresponds to at least 15%, preferably at least 20%, and preferably at least 24% of the projection surface 28d, which is the largest projection surface unfolded from one of structures 18d and 80d. Figure 10 The optical mark 12d shown has the same characteristics as in Figures 1 to 7 The optical mark 12a described in the description has at least a substantially similar configuration, thus relating to the optical mark 12a described in the description. Figure 10 The configuration of the optical mark 12d shown can at least substantially refer to Figures 1 to 7 The description. And in Figures 1 to 7 The optical mark 12a described in the description is different, in Figure 10The substructures 20d and 82d and structures 18d and 80d of the optical mark 12d shown preferably each have one of two different basic shapes. Structures 18d and 80d of the optical mark 12d each have a hexagonal basic shape or a triangular basic shape. Structures 18d and 80d of the optical mark 12d are arranged and / or constructed such that they are seamlessly arranged close to each other. Preferably, structures 80d with a triangular basic shape are arranged between three structures 18d with a hexagonal basic shape, particularly those arranged close to each other at one corner, and these triangular basic shapes are completely surrounded by the hexagonal basic shape structures 18d. Substructures 20d and 82d of the optical mark 12d each have a circular basic shape. The first substructure 20d of the optical marker 12d, 20d and 82d, are respectively arranged within a structure 18d having a hexagonal basic shape, while the second substructure 82d of the optical marker 12d, 20d and 82d, are respectively arranged within a structure 80d having a triangular basic shape. The first substructure 20d has an imaging surface 26d that is larger than that of the second substructure 82d. Specifically, each substructure 20d and 82d has an imaging surface 26d that corresponds to at least 15%, preferably at least 20%, and preferably at least 24% of the maximum projection plane 28d of the structures 18d and 80d within which the corresponding substructures 20d and 82d are arranged. Preferably, in the method steps, the optical marker 12d is output and / or generated such that the angular structures 80d each have a triangular basic shape.

[0060] exist Figure 11 The diagram shows a fourth alternative configuration of optical mark 12e. Optical mark 12e is achieved by means of a method particularly similar to that in... Figure 3 The method 14a described herein is used to construct a system for use with an output unit and a control and / or regulation unit (in... Figure 11 (Not shown) The optical marker 12e is generated by a method for generating optical markers 12e for image processing, photogrammetry, and / or motion detection. Preferably, the optical marker 12e is configured to be used with reference to a method particularly similar to that in... Figure 4The method 16a described herein is a method for detecting and identifying optical markers 12e used for image processing, photogrammetry, and / or motion detection. The optical marker 12e shown is formed by a regular pattern 44e consisting of multiple angular structures 18e, 92e and by multiple substructures 20e, each fully arranged within one of the structures 18e, 92e. When viewed along the projection plane of the optical marker 12e in two mutually perpendicular directions 22e, 24e, at least two directly adjacent structures 18e, 92e each have a different color from each other. The color sequence of the multiple structures 18e, 92e repeats periodically along the two directions 22e, 24e. The optical marker 12e is formed by multiple minimum identifiable regions 30e, each unique within the optical marker 12e. Each substructure 20e has an imaging surface 26e corresponding to at least 15%, preferably at least 20%, and preferably at least 24% of the projection surface 28e, which is the largest projection surface unfolded from one of the structures 18e, 92e. Figure 11 The optical mark 12e shown has the same characteristics as in Figures 1 to 7 The optical mark 12a described in the description has at least a substantially similar configuration, thus relating to the optical mark 12a described in the description. Figure 11 The configuration of the optical mark 12e shown can at least substantially refer to Figures 1 to 7 The description. And in Figures 1 to 7 The optical mark 12a described in the description is different, in Figure 11 The optical mark 12e shown is preferably constructed such that at least one piece of information 84e is transmitted within the minimum recognition region 30e of the optical mark 12e, respectively, by the arrangement of substructures 20e in the respective minimum recognition region 30e, or by a portion of the substructures 20e arranged within the minimum recognition region 30e, particularly relative to the arrangement of structures 18e, 92e arranged within the minimum recognition region 30e, and / or by the arrangement of other substructures 20e. Information 84e includes geometric parameters, particularly the widths of structures 18e, 92e, as observed within the optical mark 12e in a fixed projection plane relative to the output unit. It is conceivable that information 84e additionally includes a reference plane to which the geometric parameters are applied, such as the aforementioned projection plane. The substructures 20e transmitting information 84e are arranged within the optical mark 12e in a pre-given pattern 86e and at a pre-given spacing 88e, wherein, particularly, the substructures 20e outside this pattern 86e do not contribute to the transmission of information 84e. For example, the spacing 88e corresponds to the width of one of the structures 18e and 92e of the optical mark 12e. Specifically, in at least one method step, a pre-given pattern 86e is stored in the control and / or adjustment unit and / or detection unit (in... Figure 11(Not shown in the image). Information 84e is preferably encoded by means of a control and / or adjustment unit through the arrangement of substructures 20e in each minimum recognition region 30e of the optical mark 12e. The distance to the object 32e to be observed (which in particular maps the partial region 10e) and / or the size of the object 32e can be determined, for example, by image analysis processing of the detected partial region 10e of the optical mark 12e, based on the width of structures 18e, 92e in the projection plane that can be transmitted by information 84e. For example, in Figure 11 In the illustrated embodiment, information 84e is converted into a binary sequence 90e via American Standard Code for Information Interchange (ASCII), which is then encoded into optical marker 12e by a pattern 86e arranged in rows of separately monochromatic structures 92e. Structures 92e without substructures of this pattern 86e map to binary 0, while structures 92e with substructures 20e map to binary 1. Other methods for encoding information 84e into optical marker 12e are also conceivable, such as by rows of structures 18e and 92e arranged close together, or by rows of structures 18e and 92e arranged diagonally close together, etc.

Claims

1. A method for generating optical markers (12a; 12b; 12c; 12d; 12e) for image processing, for photogrammetry and / or for motion detection by means of at least one output unit (96a) and / or at least one control and / or regulating unit (94a), wherein, In at least one method step (42a), the optical marks (12a; 12b; 12c; 12d; 12e) are output and / or generated such that the optical marks (12a; 12b; 12c; 12d; 12e) are arranged in a regular pattern (44a; 44b; 44c) composed of a plurality of angular structures (18a; 18b; 18c; 18d, 80d; 18e, 92e). 44d; 44e) and through multiple substructures (20a; 20b; 20c; 20d, 82d; 20e) are formed, and the substructures are respectively completely located within one of the structures (18a; 18b; 18c; 18d, 80d; 18e, 92e), wherein the projection plane of the optical mark (12a; 12b; 12c; 12d; 12e) is in at least two mutually perpendicular oriented directions (22a, 24a; 22b, 24b; 22c, 24c; 22d, 24d; 22e, 24d, 22e). Observed from 24e), at least two directly adjacent structures (18a; 18b; 18c; 18d, 80d; 18e, 92e) have different colors from each other, wherein the color order of the plurality of structures (18a; 18b; 18c; 18d; 80d; 18e, 92e) is along the two directions (22a, 24a; 22b, 24b; 22c, 24c; 22d, 24d; 22e, 24e). The process is repeated periodically, and the optical markers (12a; 12b; 12c; 12d; 12e) are formed by a plurality of minimum unique identification regions (30a; 30b; 30c; 30d; 30e) within each optical marker (12a; 12b; 12c; 12d; 12e), wherein, in at least one method step (42a), the optical markers (12a; 12b; 12c; 12e) are thus output and / or generated. 12d; 12e), such that the substructures (20a; 20b; 20c; 20d, 82d; 20e) each have the following imaging surfaces (26a; 26b; 26c; 26d; 26e): the imaging surface corresponds to at least 15% of the projection surface (28a; 28b; 28c; 28d; 28e) unfolded from one of the structures (18a; 18b; 18c; 18d, 80d; 18e, 92e). The method includes at least one of the following three features a, b, and c: In at least one method step (40a), the optical markers (12a; 12b; 12c; 12d; 12e) are generated, using the control and / or adjustment unit (94a), based on at least one environmental parameter, wherein at least one marker parameter matching the optical markers (12a; 12b; 12c; 12d; 12e) is... b. In at least one method step (42a), the optical mark (12a; 12b; 12c; 12d; 12e) is output and / or generated in at least one of the following ways: (i) The substructures (20a; 20b; 20c; 20d, 82d; 20e) are each constructed in a circular shape and are centrally arranged within one of the plurality of structures (18a; 18b; 18c; 18d, 80d; 18e, 92e); (ii) The structure (18a) has one of at least two colors, and the substructure (20a) has one of at least two other colors, wherein at least one of the at least two colors and at least one of the other colors have at least substantially the same brightness value, wherein the at least one color and the at least one other color cannot be distinguished by grayscale level recognition. c. The optical marks (12a; 12b; 12c; 12d; 12e) are generated by means of the control and / or adjustment unit (94a) such that the minimum identification regions (30a; 30b; 30c; 30d; 30e) can be uniquely and clearly identified and assigned when mirrored and / or when rotated at an angle corresponding to a natural multiple of 2π / n.

2. The method of claim 1, wherein, In at least one method step (40a), the optical marks (12a; 12b; 12c; 12d; 12e) are generated by means of the control and / or adjustment unit (94a) according to at least one pre-given mark parameter, wherein at least the mark parameter and / or at least one other mark parameter of the optical marks (12a; 12b; 12c; 12d; 12e) are matched.

3. The method of claim 1, wherein, The environmental parameters are detected using a detection unit (98a).

4. The method of claim 1, wherein, The optical markings (12a; 12b; 12c; 12d; 12e) are generated automatically and / or by means of a program.

5. The method according to any one of claims 1 to 4, characterized in that, In at least one method step (42a), the optical markers (12a; 12b; 12c; 12d; 12e) are output and / or generated such that the rectangular regions of the optical markers (12a; 12b; 12c; 12d; 12e) formed by at least nine closely arranged structures (18a; 18b; 18c; 18d, 80d; 18e, 92e) respectively form a minimum recognition region (30a; 30b; 30c; 30d; 30e).

6. The method of claim 5, wherein, The rectangular region is a square region.

7. The method according to any one of claims 1 to 4, characterized in that, In at least one method step (46a), the optical marks (12a; 12b; 12c; 12d; 12e) are optically projected onto the surface (34a; 34b; 34c; 34d; 34e) of the object (32a; 32b; 32c; 32d; 32e) by means of the output unit (96a).

8. The method according to any one of claims 1 to 4, characterized in that, The optical mark (12e) is generated by means of the control and / or adjustment unit such that at least one piece of information (84e) is transmitted in the minimum recognition area (30e) of the optical mark (12e) by means of the arrangement of substructures (20e) in the respective minimum recognition area (30e) or by means of the arrangement of a portion of the substructure (20e) located in the minimum recognition area (30e) relative to the structure (18e, 92e) located in the minimum recognition area (30e).

9. The method according to any one of claims 1 to 4, characterized in that, In at least one method step, the optical markers (12c; 12d) are output and / or generated such that the angular structures (18c; 80d) each have a basic triangular shape.

10. A method for identifying optical markers (12a; 12b; 12c; 12d; 12e) for image processing, photogrammetry, and / or motion detection, wherein the optical markers are generated by the method according to any one of claims 1 to 9, wherein, In at least one method step (48a), at least one visible partial region (10a; 10b; 10c; 10d; 10e) of the optical mark (12a; 12b; 12c; 12d; 12e) on the surface (34a; 34b; 34c; 34d; 34e) is detected by at least one detection unit (98a), and at least one pattern (52a) of the partial region (10a; 10b; 10c; 10d; 10e) is obtained by at least one analysis processing unit (100a), wherein, in at least one method step (54a), the partial region (10a; 10b; 10c; 10d; 10e) on the optical mark (12a; 12b; 12c; 12d; 12e) is determined by means of color and / or contrast analysis processing. Analysis processing unit (100a) for determining the position (76a) within the surface (34a; 34b; 34c; 34d; 34e) and / or for determining the configuration and / or arrangement of the surface (34a; 34b; 34c; 34d; 34e), determining the intersection (56a) of the structures (18a; 18b; 18c; 18d, 80d; 18e, 92e) of the optical marks (12a; 12b; 12c; 12d; 12e) located in the partial region (10a; 10b; 10c; 10d; 10e) and the arrangement of the substructures (20a; 20b; 20c; 20d, 82d; 20e) of the optical marks (12a; 12b; 12c; 12d; 12e) located in the pattern (52a).

11. The method of claim 10, wherein, In at least one method step (58a), the analysis processing unit (100a), by means of the analysis processing unit (100a) for determining the position (76a) of the partial regions (10a; 10b; 10c; 10d; 10e) within the optical marks (12a; 12b; 12c; 12d; 12e), performs the obtained pattern (52a) of the partial regions (10a; 10b; 10c; 10d; 10e) and / or the substructures (20a; 20b; 20c; 10e) within the optical marks (12a; 12b; 12c; 12d; 12e), and / or the substructures (20a; 20b; 20c; 10e). The arrangement obtained by 20d, 82d; 20e) is related to at least one of the stored reference patterns (60a).

12. The method of claim 11, wherein, The desired pattern (52a) is the desired intersection point (56a).

13. The method according to claim 11 or 12, characterized in that, In at least one method step (58a), with the aid of the analysis processing unit (100a), for each possible position (76a) of the obtained pattern of the partial region (10a; 10b; 10c; 10d; 10e) within the optical mark (12a; 12b; 12c; 12d; 12e), error characteristic parameters are obtained, wherein the position (76a) of the partial region (10a; 10b; 10c; 10d; 10e) within the optical mark (12a; 12b; 12c; 12d; 12e) is determined based on the obtained error characteristic parameters.

14. A method for image processing, for photogrammetry and / or for motion detection, wherein The method according to any one of claims 1 to 9 generates at least one optical mark (12a; 12b; 12c; 12d; 12e), wherein the method according to any one of claims 10 to 13 identifies the optical mark (12a; 12b; 12c; 12d; 12e).

15. A marking device for image processing, photogrammetry, and / or motion detection, said marking device having at least one optical mark (12a; 12b; 12c; 12d; 12e) generated by the method according to any one of claims 1 to 9.

Images