A method for identifying at least one degree of freedom of a camera, a computer program, a machine-readable storage medium, and an electronic control unit or automation device.

The method addresses the limitations of existing camera-positioning technologies by using a two-dimensional code array and image processing to determine precise camera positioning and orientation, enabling efficient and accurate six-degree-of-freedom measurements for advanced automation applications.

JP2026519924APending Publication Date: 2026-06-19ROBERT BOSCH GMBH
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Patent Information

Authority / Receiving Office
JP · JP
Patent Type
Applications
Current Assignee / Owner
ROBERT BOSCH GMBH
Filing Date
2024-03-15
Publication Date
2026-06-19

AI Technical Summary

Technical Problem

Existing methods for determining the relative position of a camera to a code sequence in a camera image are limited in accuracy, complexity, and cost-effectiveness, particularly in applications requiring precise positioning and orientation in multiple dimensions.

Method used

A method for identifying up to six degrees of freedom of a camera relative to a code array using a two-dimensional code sequence, employing a camera with an optical sensor unit and imaging optical system, which captures images of a code array with basic symbols arranged in a periodic grid, allowing for precise positioning and orientation through image processing and linear functions to compensate for perspective distortion.

Benefits of technology

Enables high-precision, cost-effective, and real-time determination of the camera's position and orientation with respect to the code array, offering wide measurement ranges, high accuracy, and the ability to integrate into existing systems like smartphones, facilitating advanced automation technologies.

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Abstract

The present invention relates to a method for determining at least one degree of freedom of camera (1) relative to a code array (2) from a camera image of camera (1), wherein a basic symbol matrix is ​​determined from the camera image, the positions of basic symbols in the camera image are entered into the basic symbol matrix, a first linear function is derived based on the basic symbol matrix using a first function argument in the coordinate system of the camera image with respect to a first line, the first line is oriented parallel to a first principal direction in the coordinate system of the code array (2), and by changing the first function argument, The present invention relates to a method wherein the line is shifted parallel to the second principal direction in the coordinate system of the code array (2), and / or a second linear function is derived with respect to the second line using a second function argument in the coordinate system of the camera image, the second line is oriented parallel to the second principal direction in the coordinate system of the code array (2), and by changing the second function argument, the second line is shifted parallel to the first principal direction in the coordinate system of the code array (2), and at least one degree of freedom of the camera is determined based on at least one of the linear functions.
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