Sensor assembly for detecting an object

Abstract

The invention relates to a sensor assembly for detecting an object (1) using a sensor component (4, 9), the sensor assembly comprising a locating component (7a, 7b, 7c,7d, 7e, 7f, 7g) and a marker arrangement (2), which are designed and arranged in such a way that the coordinates of the locating component (7a, 7b, 7c,7d, 7e, 7f, 7g) and / or of the sensor component (4, 9) in relation to the coordinates of the marker arrangement (2) can be determined by means of the locating component (7a, 7b, 7c, 7d, 7e, 7f, 7g). The invention also relates to a sensor system for detecting an object (1) using a plurality of sensor components (4, 9) of this kind.

Description

[0001] 32027 PWO FR 1 / 43 December 11, 2025

[0002] FRIESE GOEDEN

[0003] Patent Attorneys PartGmbB

[0004] Widenmayerstraße 49 80538 Munich

[0005] Our reference number: 32027 PWO FR

[0006] Applicant: Fraunhofer Society for the Advancement of Applied Research eV

[0007] Sensor arrangement for detecting an object

[0008] The invention relates to a sensor arrangement for detecting an object.

[0009] The problem underlying the invention is the all-around detection of a three-dimensional object using optronic sensors, where the measurement result should map the object's geometry or be assigned to it. A significant challenge with artificial objects (e.g., technical products such as vehicles, motor vehicles, or aircraft) lies in their often featureless or even reflective to (partially) mirrored surfaces. This precludes purely passive detection techniques for surveying tasks, such as stereometry. For active optronic techniques, the problem is comprised of two sub-problems:

[0010] 1. An optical sensor cannot simultaneously capture / measure an object from all sides. Different perspectives are necessary, and partial measurement results must be combined to obtain an overall result. For each partial result, the exact sensor perspective (so-called "pose" = sensor position and orientation) is recorded in a common 32027 PWO FR 2 / 43 11 December 2025

[0011] A coordinate system (COOS) of all sensor poses is required (e.g., in the coordinate system of the object or the workspace / laboratory). In the literature, this is usually referred to as the transformation from the local (sensor) COOS to the global (object) COOS.

[0012] 2. Active optronic sensors consist of two components:

[0013] - an emitting / transmitting sensor component and

[0014] - a detecting / receiving sensor component.

[0015] To evaluate the sensor measurement data with regard to the geometry of the object, the exact geometric orientation of the two sensor components to each other must be known.

[0016] The solution to subproblem 2 typically involves a mechanically rigid mounting and connection of the two sensor components, such that a single measurement / calibration of their relative alignment is sufficient to calculate all future sensor measurements. This is familiar to those skilled in the art for laser (line) triangulation sensors or 3D cameras, where the two sensor components, e.g., the light projector and the camera or detector component, are usually rigidly mounted to each other within a single housing. The need for mechanically stable mounting limits the baseline length between the sensor's transmitting and receiving components and / or the measurement uncertainty. However, a longer baseline length makes consistently stable and accurate calibration more difficult. Furthermore, thermal expansion and mechanical stress introduce increasing uncertainties.

[0017] One method for solving subproblem 1 is the fixed arrangement of a sufficient number of sensor modules (e.g., 3D cameras) around a measurement area in which the object to be detected can be positioned. First, a known reference / calibration object is placed in the measurement area, and the poses of all sensor modules relative to it are determined (calibration). The reference is then removed. Based on the obtained pose information for each 32027 PWO FR - 3 / 43 - 11 December 2025

[0018] The sensor module can then correctly combine the data from the objects to be measured. This process relies on the mechanical stability of the setup. The longer the time interval between calibration and object measurement, the more likely and significant a possible misalignment becomes, and this increases with the size and dimensions of the setup.

[0019] A method of this kind is known from DE 10 2018 129 143 B4, in which a known reference / calibration object is placed in the measuring area and the poses of all sensor modules relative to it are determined (calibration). The reference is then removed. In this known method, the accuracy of determining the object's position in space can be increased by providing at least one movable sensor module on a movable arm. This known method has the aforementioned disadvantage that calibration of the sensor module is required because the sensor module does not contain a positioning component. Therefore, this known method has the aforementioned disadvantage of relying on the mechanical stability of the setup, which increases the risk of misalignment with increasing time elapsed between calibration and object measurement.

[0020] DE 10 2009 032 262 A1 describes a method for determining the 3D coordinates of an object surrounded by several reference backdrops, wherein multiple images of the object are produced such that each image contains a part of the object and a part of a reference backdrop. This known method has the disadvantage of being relatively inaccurate because the same sensors are used to capture both the object and the reference backdrop.

[0021] US 2014 / 00469589 discloses the 3D scanning of a measurement object using a 3D sensor on a drone, wherein the drone is tracked by at least one ground-based laser tracker to determine its respective measurement position and orientation. This known method has the disadvantage that the drone cannot determine its position or orientation directly relative to the KOOS of the measurement object.

[0022] DE 10 2016 105 858 Al of fenbart a mobile three-dimensional measuring system in which the 3D coordinates of a target are determined with a distance meter and an angle encoder.

[0023] US 2005 / 0180623 Al of fenbart a device and method for generating 3D images of an object using calibration means for transferring data to a reference frame and a visibility analysis for determining and resolving occlusions.

[0024] CH 702 255 Al of fenbart a device for spatial detection of an object by means of optical scanning .

[0025] DE 10 2013 224 358 A method for measuring the position of large components in the production space based on defined markings on these components, using a visual camera ( s ).

[0026] To compensate for shortcomings in the original calibration, it is known to those skilled in the art to adjust the individual data sets of the sensor modules (here, 3D cameras) to a consistent overall data set using an ICP algorithm. However, this only works if, as with 3D cameras, the data sets are at least two-dimensional, allowing for such an adjustment and thus even camera pose estimation. The achievable measurement uncertainty remains limited.

[0027] Methods that rely exclusively on such an adjustment via, for example, the ICP algorithm, are those that adjust successive frames from a 3D camera to the respective previous frame or to the frame created up to that point. 32027 PWO FR 5 / 43 11 December 2025

[0028] Align the entire dataset. Here, the sensor module (3D camera) can be moved freely by hand or via a robotic arm, drone, etc., through the scene or around the object. The orientation of the recorded partial data is determined from the data itself, and these are then combined into a complete dataset. Such methods have the disadvantage that "drift" can occur, i.e., adjustment errors can accumulate from frame to frame, so that the absolute error across the entire scope of the final result can become quite large.

[0029] To avoid such errors, it is known to use additional sensor information to determine the poses of the sensor modules during a (freely guided) scanning process. This can involve internal mechanical sensors of a robot arm, which allow for the position and orientation determination of the sensor module, mounted as a tool on the arm, within the robot's coordinate system (COS), where the object to be scanned is located (statically). Alternative concepts utilize a marker array attached to the sensor module, which is detected by one or more tracking cameras in the spatial coordinate system. If these tracking cameras are appropriately calibrated, the position and orientation of the sensor module can be determined from the detected marker array. The movement can be performed by a robot arm or manually by the user. This concept is state of the art for the three-dimensional measurement of larger objects in industrial manufacturing.Especially when using laser line triangulation sensors, the method achieves a sufficiently low measurement uncertainty. However, it requires a cumbersome, often manual scanning process with the object stationary and cannot be performed while the object is moving, e.g., in a production line. It presupposes that during the scanning movement of the sensor module(s), the object being measured and all tracking cameras remain perfectly statically fixed relative to each other in the common spatial coordinate system. This becomes increasingly difficult the greater the distance required for the spatial overview to capture the marker-equipped sensor module. For a complete measurement of the object, the much larger volume in which the sensor module moves for the measurement must be stably captured on all sides of the object by these tracking cameras.Depending on the required measurement uncertainty, such a large-scale system must be recalibrated regularly. Even small positional inaccuracies of the tracking cameras, caused, for example, by thermal expansion or vibrations, e.g., of the hall floor, can render the measurements unusable.

[0030] It is known to determine the pose of the sensor module for each partial image using the image from a "connecting camera," which captures the object and must be permanently and rigidly connected to the object's KOOS (point of focus). This allows the mapping of the image pixels of the "connecting camera," which persist on the object, to the projected light pattern of the triangulation sensor and its camera pixels. Two significant disadvantages, as with the methods described above, are that the object must not be moved and that the "connecting camera" requires a certain distance for object capture while simultaneously being rigidly connected to it. This places high demands on the stability of the mechanical connection and increases measurement uncertainty.

[0031] According to another concept, it is known to use graphic markers attached directly to the object to be measured, which do not interfere with the acquisition of the pure 3D geometry. The sensor module's camera captures the markers in addition to the pattern projected onto the object. Photogrammetrically, the viewing angles of the individual images can then be determined based on the marker positions in the images, and these can be combined. This method has the disadvantage that the markers attached directly to the object to be measured prevent the correct acquisition of surface properties, the application is time-consuming, and it must be repeated for each individual object.

[0032] US6856826B2 describes a method for compensating for imaging errors in fluoroscopy caused by mechanical instabilities between the X-ray source, the object (patient and, if applicable, medical instrument), and the detector (fluorescence screen camera). For this purpose, additional marker structures are attached to the objects. These known structures are detected in the individual frames of the fluorescence camera, and the position of the objects and the viewing angle of the X-ray source and camera relative to the objects are calculated from this. Thus, even when the apparatus is rotated around the volume being examined, images from different viewing directions can be combined to create a 3D representation. This method only works for object fluoroscopy. This patent describes sensor concepts with a mechanically rigid connection between the transmitting and receiving components of the sensor module for solving the aforementioned subproblem 2.

[0033] The invention is therefore based on the task of specifying a sensor arrangement with which larger objects can be accurately detected without the need to attach marker arrangements to the object.

[0034] The problem is solved according to the invention by a sensor arrangement according to claim 1, a sensor module according to claim 14, or a sensor system according to claim 15. Advantageous embodiments of the invention are found in the dependent claims.

[0035] According to one embodiment of the invention, a sensor arrangement for detecting an object is specified, comprising a sensor component, wherein the sensor arrangement includes a positioning component and a marker arrangement, which are designed and arranged such that the positioning component determines the coordinates of the object. 32027 PWO FR 8 / 43 11 December 2025

[0036] The location component can be determined in relation to the coordinates of the marker arrangement.

[0037] Alternatively or additionally, according to one embodiment of the invention, a sensor arrangement for detecting an object is provided, wherein the sensor arrangement comprises a positioning component and a marker arrangement, which are designed and arranged such that the coordinates of the sensor component can be determined with respect to the coordinates of the marker arrangement using the positioning component. These embodiments of the invention have the advantage that triangulation with large distances between the triangulation points is possible, and the triangulation points can be selected such that the object can be detected completely and accurately. These embodiments of the invention also have the advantage that calibration of the sensor component with a known reference / calibration object is unnecessary.Therefore, unlike known methods that require calibration, there is no risk of misalignment occurring after the calibration required in known methods.

[0038] In contrast to the prior art, according to the present invention, it is not necessary for the sensor component to detect the movement / position of a sensor object located in the KOOS. Rather, according to the present invention, the sensor component can determine its own pose in the KOOS, i.e., the sensor component can locate itself. Therefore, according to the invention, no calibration on a reference object is required.

[0039] According to the invention, the positioning component and the marker arrangement can be designed and arranged such that the orientation of the positioning component relative to the marker arrangement can be determined using the positioning component. 32027 PWO FR 9 / 43 11 December 2025

[0040] According to the invention, the localization component and the marker arrangement can be designed and arranged in such a way that the orientation of the sensor component in relation to the marker arrangement can be determined with the localization component.

[0041] According to the invention, the sensor component can comprise a receiving sensor component which is designed and arranged such that the sensor component receives a signal from the object.

[0042] According to the invention, the receiving sensor component can comprise or be a camera.

[0043] According to the invention, the sensor component can comprise a transmitting sensor component which is designed and arranged such that the sensor component sends a signal to the object.

[0044] According to the invention, the transmitting sensor component can comprise or be a laser.

[0045] According to the invention, the localization component can receive a signal from the marker arrangement.

[0046] According to the invention, the localization component can comprise or be a camera.

[0047] According to the invention, the localization component can include a transmitting component. Specifically, the localization component can include a camera with a ring light. These embodiments have the advantage that, with marker arrangements using, for example, retroreflective marker spheres, detection with high signal intensity can be achieved.

[0048] According to the invention, the marker arrangement can comprise or be a graphic marker arrangement.

[0049] According to the invention, the marker arrangement can comprise or be a geometric marker arrangement. 32027 PWO FR 10 / 43 11 December 2025

[0050] According to the invention, the geometric marker arrangement can include markers of different sizes.

[0051] According to the invention, the geometric marker arrangement can include markers of different shapes.

[0052] According to the invention, the geometric marker arrangement can include markers that are arranged at different distances.

[0053] According to the invention, the receiving sensor component and the positioning component can be arranged within a single sensor component. In this embodiment of the invention, the receiving sensor component can thus be positioned relative to the marker arrangement.

[0054] According to the invention, the receiving sensor component and the positioning component can be arranged and designed in the sensor component in such a way that the position and orientation of the receiving sensor component and the positioning component are fixed.

[0055] According to the invention, the transmitting sensor component and the positioning component can be arranged within a single sensor component. In this embodiment of the invention, the transmitting sensor component can thus be positioned relative to the marker arrangement.

[0056] In embodiments of the invention in which a receiving sensor component and a localization component are arranged in one sensor component, and in which a transmitting sensor component and a localization component are arranged in another sensor component, the at least one receiving sensor component can thus be localized relative to the marker arrangement as well as the at least one transmitting sensor component relative to the marker arrangement.

[0057] According to the invention, the transmitting sensor component and the

[0058] The positioning component in the sensor component shall be arranged and designed in such a way that the position and orientation of the transmitting sensor component and the positioning component are fixed.

[0059] According to the invention, the object can be arranged on a slide arrangement.

[0060] According to the invention, the microscope slide arrangement can include a driverless transport system.

[0061] According to the invention, the marker arrangement can be arranged on the slide arrangement.

[0062] According to the invention, the object carrier arrangement can include a rotating stage.

[0063] According to the invention, the object can be arranged on the ground.

[0064] According to the invention, the marker arrangement can be arranged on the floor.

[0065] According to the invention, the marker arrangement can be arranged on the slide arrangement.

[0066] According to the invention, the sensor component can be arranged to be slidably mounted on a rail arrangement.

[0067] According to the invention, one or more transmitting sensor components can be arranged on the rail assembly. Alternatively or additionally, one or more receiving sensor components can be arranged on the rail assembly. At least one or more sensor components can be slidably arranged on the rail assembly.

[0068] According to the invention, the rail arrangement can comprise at least one rail. 32027 PWO FR 12 / 43 11 December 2025

[0069] According to the invention, at least one rail can be straight. Alternatively or additionally, at least one rail can be curved.

[0070] According to the invention, the rail arrangement can include multiple rails.

[0071] According to the invention, the sensor component can be arranged on a flight object that can be controlled in space.

[0072] According to the invention, the controllable flying object in space can include a drone.

[0073] According to the invention, the marker arrangement can be arranged on the sensor component.

[0074] According to the invention, the marker arrangement can be located on the sensor component with the receiving sensor component and the positioning component can be located on the sensor component with the sending sensor component.

[0075] According to the invention, the marker arrangement can be located on the sensor component with the transmitting sensor component and the positioning component can be located on the sensor component with the receiving sensor component.

[0076] According to the invention, the positioning component can be arranged on the object support on which the object is arranged.

[0077] According to the invention, the sensor arrangement can comprise multiple sensor components. These multiple sensor components can be arranged on several controllable flying objects in space.

[0078] According to the invention, a sensor module for detecting an object is also specified, comprising at least one sensor arrangement according to the invention, which has at least one transmitting sensor component, and with 32027 PWO FR 13 / 43 11 December 2025 at least one sensor arrangement according to the invention, which has at least one receiving sensor component.

[0079] According to the invention, a sensor system for detecting an object with several sensor arrangements according to the invention is also specified.

[0080] According to the invention, the sensor system can alternatively or additionally comprise at least one sensor module according to the invention.

[0081] According to the invention, self-calibrating sensor technology for detecting large objects with several sensor arrangements according to the invention is also provided, wherein self-localization of at least one sensor component takes place.

[0082] According to the invention, self-localization can be performed continuously.

[0083] According to the invention, self-localization of several sensor components is possible.

[0084] According to the invention, self-location can be carried out in advance.

[0085] According to the invention, self-location can take place during the recording process.

[0086] According to the invention, self-location can take place in the post-field.

[0087] According to the invention, the detection can be a 360° detection.

[0088] According to the invention, a transformation between local (sensor module) KOOS and global (object) KOOS can be achieved by means of a marker arrangement, which can, for example, be attached to the specimen carrier. The specimen carrier can be a stationary platform or a transport system, e.g., in a production line; a rotary stage or similar would also be conceivable. Each sensor module that provides data of the desired result type can, for example, have at least two preferably mechanically separated sensor components, e.g., a 32027 PWO FR 14 / 43 11 December 2025

[0089] A transmitter and a receiver. The transmitting component can include a transmitter that illuminates the object. This could be, for example, a laser, a line laser, a (laser) (pattern) projector such as a structured light projector, but also a fluorescent screen, a monitor, or a display, etc. The receiving component can include a receiver whose field of view is aligned with the area of ​​the object illuminated by the transmitting component. Both sensor components can also each have at least one positioning component whose fields of view are aligned with the marker array. The marker array can include, for example, graphic markers (such as STag markers, QR code(s), and / or geometric markers and / or one or more continuous patterns, e.g., of randomly distributed dots, or a combination of these options).

[0090] The sensor components, i.e., all sensor components contained therein, including the positioning components, can be connected to a control and data processing system. This system can control the components belonging to a sensor module in a time-synchronized manner for individual data acquisition. In the images of the positioning component(s), the components of the marker arrangement can be identified as defective, and the poses (position + orientation) of the positioning component(s) in the object KOOS can be calculated based on their known, pre-calibrated arrangement in the object KOOS. From this pose of positioning component 7a), the pose of the transmitting component(s) and the position of the light projection in the object KOOS can be calculated based on the known and pre-calibrated transformation between the positioning component and the transmitting component.From the pose of the positioning component, the pose of the receiving component (n) and the position of its field of view in Object-KOOS 32027 PWO FR 15 / 43, December 11, 2025, can be calculated using the transformation between the positioning and receiving components, which is known for the receiving component and pre-calibrated. From the position / pose of the light projection of the transmitting component (n) and the pose of the receiving component (n), or its field of view, the desired data can be calculated directly in Object-KOOS. In the case of object measurement according to the principle of triangulation, this could involve, for example, the intersection point of a laser beam with the object surface, the spatial path of the intersection line of a line laser with the object surface, or the spatial coordinates of patterns projected onto the object surface.

[0091] To capture further parts of the object, the control and data processing system can repeatedly trigger individual data acquisitions. The relative position between the object and the sensor module (e.g., the two sensor components) can be successively changed. For this purpose, this can be achieved, in particular, by moving the object using the transport system. It is also conceivable to change the viewing angle of the sensor module(s), e.g., the sensor components, so that their detection range covers the object. Additionally or alternatively, the sensor components can be moved (freely) relative to the object, e.g., on a rail system that can be curved or straight. The object could be located on a stationary platform or additionally or alternatively moved via a transport system. The sensor components can also be mounted on a moving flying object, e.g.,a drone, arranged so that it can move around larger objects, which would then preferably be measured in a stationary position, in order to attach the marker array directly to the ground as a "carrier platform". Accordingly, the fields of view of the positioning component(s) could point downwards, while the fields of view of the transmitting component(s) and receiving component(s) could be oriented more horizontally. The control of the drones' movement paths, 32027 PWO FR 16 / 43 11 December 2025.

[0092] The location component (n), transmit and receive component (n) and the data recording could be carried out via a radio connection (e.g. WLAN) from the control and data processing system.

[0093] The relative position change between the object and sensor components can occur incrementally during pauses between data acquisitions, or in parallel with rapid data acquisition. However, continuous movement is preferred, with the object being scanned during repeated data acquisitions. Since all acquired data is related to the object's KOOS (Control Object System), it can be immediately aggregated into a complete dataset.

[0094] The overall sensor system can contain multiple sensor modules to detect the object from different sides or angles. Each of these sensor modules can have at least one transmitting and at least one receiving sensor component. The sensor modules can be addressed sequentially by the control and data processing system to avoid mutual interference. Alternatively or additionally, the transmitting components can use different wavelengths of light, and the receiving components can be equipped with suitable bandpass filters. Alternatively or additionally, the transmitting components can use different temporal light modulations, and the receiving components can be equipped with suitable frequency filters.

[0095] The procedure may require a calibrated virtual model of the marker array. This can be obtained by precisely manufacturing the marker array, e.g., according to a CAD model, or by measuring a manufactured marker array as accurately as possible. This is also possible, for example, by calculating a 3D model of the marker array based on a large number of images taken with one or more calibrated cameras. This can be done (once) in advance of the 32027 PWO FR 17 / 43 11 December 2025

[0096] The concept can be used in various ways. However, it would also be conceivable to utilize the entirety of images obtained from the geotagging components, provided there is suitable relative movement during the scanning process. This would allow the calibration of the marker array to be performed regularly or even with each scan. If sufficient environmental features (e.g., ground structure) can be captured by the geotagging components, these features could replace the marker array, for example, in the case of moving sensor components. In this case, the two individually intrinsically calibrated sensor components might be sufficient for surveying a large 3D object (in the field).

[0097] Alternatively or in addition to the location component(s), a method for rough instruction for determining the poses of the sensor components could be used, e.g. a GPS or indoor GPS.

[0098] The present invention is particularly suitable for the 3D measurement of larger objects such as cars (bodywork) or aircraft. A laser, a line laser, or a light pattern projector would serve as the active sensor component, while a camera would act as the passive component, allowing the spatial coordinates of the intersection points or lines of intersection of the laser / light pattern with the object surface to be triangulated from the camera image. Potential technical applications include design, production (quality control), and the inspection of such objects.

[0099] The following terms, among others, are used in this description:

[0100] ICP: iterative closest point, a method to find the optimized orientation for a 3D dataset (e.g., a 3D point cloud) in order to adapt it to other 3D data (https: / / de.wikipedia.org / wiki / Iterative_Closest_Point_Algorithm) 32027 PWO FR 18 / 43 11 December 2025

[0101] KOOS:

[0102] Coordinate system

[0103] Locating component: e.g., a camera in whose field of view the marker arrangement is located, in order to determine its pose (position + orientation) and thus the pose of the associated sensor component in the coordinate system of the marker arrangement.

[0104] Sensors:

[0105] Overall arrangement consisting of several sensor modules.

[0106] Sensor module:

[0107] Provides measurement data of the sensor type. For example, it has at least two sensor components, such as an active transmitting component (transmitting sensor component) and a passive receiving component (receiving sensor component).

[0108] Sensor component:

[0109] At least two sensor components can form a sensor module for laser line triangulation: The active sensor component can comprise an active sensor component (e.g., a (line) laser or pattern projector) combined with a positioning component. The passive sensor component can comprise a passive receiving component (e.g., a (triangulation) camera) combined with a positioning component.

[0110] Sensor component: e.g., single camera, line laser

[0111] The combination of a transmitting / emitting and a corresponding receiving / detecting sensor component is referred to as a sensor module within the scope of this disclosure. A sensor module provides data of the intended type about the object to be detected (e.g., 3D points of the object's surface) from the perspective accessible to it. 32027 PWO FR 19 / 43 December 11, 2025

[0112] In principle, at least four options are conceivable for capturing the object from all sides:

[0113] 1. Several sensor modules are arranged around the object.

[0114] 2. One or more stationary sensor modules change their viewing direction and scan the object.

[0115] 3. One or more sensor modules change their positions relative to the stationary object.

[0116] 4. The object changes its position relative to one or more stationary sensor modules.

[0117] According to the invention, all combinations of these options are conceivable. What is necessary depends, among other things, on which dimension a sensor module covers during acquisition (point, linear, or area acquisition). The only relevant aspect for the present invention is how the perspective of a sensor module relative to the object is determined for each individual data acquisition in order to combine all individual data acquisitions into a correct overall dataset.

[0118] According to the invention, the sensor modules can be separated into mechanically independent transmitting and receiving sensor components. According to some embodiments of the invention, each of these components can include a localization component. These localization components are arranged and configured such that their associated sensor component can be continuously located within the object's KOOS (Knowledge, Object, and System) during the acquisition process (scanning). For this purpose, it can detect a marker arrangement on the object's support platform or, if the object is stationary, suitable structures in its surroundings.

[0119] Due to the continuous self-localization of the sensor modules or sensor components in the object coordinate system, it is not necessary to have a highly precise sensor guide or highly precise 32027 PWO FR 20 / 43 11 December 2025

[0120] Object guidance for the scanning process should be provided. Similarly, additional sensors in the object KOOS could be omitted or only implemented as a redundant solution to determine the poses of the sensor modules. For example, purely passive marker arrangements can be implemented in the object KOOS in the immediate vicinity of the object. This can have the advantage of significantly increasing their stability within the object KOOS compared to sensor tracking cameras positioned remotely from the object.

[0121] The marker arrays can, but do not have to, be attached to the object itself. Instead, marker arrays can be placed on the slide, in the surrounding area, or on the floor, as they do not need to be within the detection range of the sensor component. This means the marker arrays do not interfere with data acquisition and do not need to be reattached for each object. Objects can be positioned and recorded sequentially on the slide or floor.

[0122] The measurement can be performed while the object is in motion on a transport system. All known solutions rely on a stationary object in space, which, for example, must not move relative to the cameras positioned some distance away for sensor localization during the scanning process. In this case, the scanning process is preferably carried out by the

[0123] Object (carrier) movement is realized. However, a scan is also possible by moving the sensor modules around the object and its carrier platform.

[0124] Due to its modularity, a sensor system built according to this concept is easily scalable. Depending on the sensor's requirements, additional sensor modules can be added or removed. Their self-localizing capabilities eliminate the need for additional calibration within the overall system. The same scalability applies to the associated control and, in particular, evaluation software, where each sensor module also has its own dedicated software module (32027 PWO FR 21 / 43 11 December 2025). Depending on the necessary and available computing power, this also allows for modular scaling of the computer hardware. Additional computers could thus be integrated into a computer network for additional sensor and software modules.

[0125] The effect of this concept lies in the continuous updating of the transformation between the local (sensor) and global (object) KOOS for the output variables (transmitting and receiving positions) from which the quantities to be measured are directly calculated in the object KOOS. In addition, the concept enables or allows for a mechanical separation of the transmitting and receiving components of the sensor.

[0126] The mechanical separation allows for arbitrary base lengths between the transmitting and receiving sensor components, and thus also very large detection distances to the object. Due to the independent self-localization of the transmitting and receiving components, no complex, rigid mechanical connection between them is necessary. The base length can be adjusted to suit different objects; it can be changed without recalibrating the entire system and even during the acquisition process.

[0127] Implementing self-localization through additional localization components allows for the independent adaptation of both the localization components and the receiver module (e.g., triangulation camera) to their respective tasks. No compromises are necessary regarding fields of view, spectral sensitivity, resolution, exposure times, etc., which would interfere with the other task, as is the case in approaches where localization is performed by the main sensor.

[0128] At least some embodiments of the invention have the advantage that the object and the marker arrangement can be separate, as long as their relative positions are known. For example, the object and marker arrangement can also be rigidly connected. For instance, one sensor component (e.g., a position camera) can be perpendicular to a marker arrangement on the ground, while a second sensor component (e.g., a 3D sensor component) is horizontally focused on an object standing on it. According to the invention, different, even disjoint, physical properties (e.g., spectral) can be used for the 3D acquisition / measurement of the object on the one hand and the sensor positioning on the other (based on the marker arrangement) and optimized for the respective purpose.

[0129] At least some embodiments of the invention have the advantage that the sensor component(s) (e.g., a drone) can determine its position and orientation directly relative to the KOOS of the object being measured, for example, by means of preferably purely passive, such as visual, markers arranged on it. This can be achieved, for example, by retroreflection using light reflected from the marker and emitted by the sensor component. These embodiments of the invention have the advantage that additional active components beyond the sensor components can be provided, but are not necessarily required.

[0130] According to the invention, in at least some embodiments of the invention, the 3D sensor technology can be divided into geometrically largely independent sensor components (e.g., transmitting and receiving), which can be arranged, for example, on two drones.

[0131] At least some embodiments of the invention have the advantage that neither active components (e.g., cameras, lasers, LEDs, etc.) are required on the object or the slide, because the provision of purely passive markers on the slide may suffice. Active components (e.g., those requiring a power supply and / or data connection) can be provided in the sensor components of these embodiments of the invention in accordance with 32027 PWO FR 23 / 43 of December 11, 2025.

[0132] According to at least some embodiments of the invention, the sensor arrangement can, for example, divide the 3D sensor into separate components, such as at least one transmitting sensor component and at least one receiving sensor component, which can preferably be located / calibrated independently of each other. This has the advantage that a variable and large base can be formed, whereby, if necessary (e.g., in the case of arranging the sensor components on flying objects, such as drones), they can each be positioned independently of each other in such a way that occlusions, etc., can be avoided.

[0133] The invention is described in more detail below with reference to the embodiments shown in the figures, without limiting the general concept of the invention. In the various embodiments, the same reference numerals denote identical or corresponding components or features. Reference is made to the descriptions of the other embodiments of the invention, and the focus is placed on the differences between them. The following reference numerals are used:

[0134] 1 object

[0135] 2 Marker arrangement

[0136] 3 slides, e.g., support platform

[0137] 4 Sensor component

[0138] 5 transmitting sensor component, e.g. laser source

[0139] 6 Projection direction of the transmitting sensor component 5

[0140] 7a Location component

[0141] 7b Location component

[0142] 7c Location component

[0143] 7d Location component

[0144] 7e Location component 32027 PWO FR 24 / 43 11 December 2025

[0145] 7f Location component

[0146] 7g localization component

[0147] 8a Visual field of the localization component 7a

[0148] 8b Visual field of the localization component 7b

[0149] 8c Visual field of the localization component 7c

[0150] 8d Visual field of the localization component 7d

[0151] 8e Visual field of the localization component 7e

[0152] 8f Visual field of the localization component 7f

[0153] 8g field of view of the localization component 7g

[0154] 9 Sensor component

[0155] 10 receiving sensor component, e.g. camera

[0156] 11 Field of view of the receiving sensor component 10

[0157] 12 Control and data processing system

[0158] 13 graphic markers

[0159] 14 geometric markers

[0160] 15 Revolving stage

[0161] 16 rail arrangement

[0162] 17 object carriers

[0163] 18 Marker arrangement on sensor component 9 with receiving sensor component 10

[0164] 19 Marker arrangement on sensor component 4 with the transmitting sensor component 5

[0165] 20 Marker arrangement on the sensor component with the receiving sensor component 10

[0166] 21 Marker arrangement on the sensor component with the transmitting sensor component 5

[0167] 22 Controllable flying object in space, e.g. drone

[0168] Brief description of the characters:

[0169] Fig. 1 schematically shows a sensor arrangement for detecting an object with two sensor components, each having a positioning component, and one attached to a 32027 PWO FR 25 / 43 11 December 2025

[0170] Object carrier arranged marker arrangement according to one embodiment of the invention.

[0171] Fig. 2 schematically shows a sensor arrangement for detecting an object with four sensor components, each of which has a localization component, and a marker arrangement arranged on an object carrier according to a further embodiment of the invention.

[0172] Fig. 3 schematically shows a sensor arrangement for detecting an object with four sensor components, each of which has a positioning component, and a marker arrangement arranged on an object carrier designed as a rotating stage according to a further embodiment of the invention.

[0173] Fig. 4 schematically shows a sensor arrangement for detecting an object with four sensor components arranged on a rail arrangement, each of which has a positioning component, and a marker arrangement arranged on an object carrier according to a further embodiment of the invention.

[0174] Fig. 5 schematically shows a sensor arrangement for detecting an object with two sensor components arranged on space-controllable flying objects, each of which has a positioning component, and marker arrangements arranged on the ground according to a further embodiment of the invention.

[0175] Fig. 6 schematically shows a sensor arrangement for detecting an object with two sensor components, each having a positioning component, and a marker arrangement arranged on an object carrier according to a further embodiment of invention 32027 PWO FR 26 / 43 11 December 2025

[0176] Fig. 7 schematically shows a sensor arrangement for detecting an object with two sensor components, each having a localization component, and a marker arrangement arranged on an object carrier according to a further embodiment of the invention.

[0177] Fig. 8 schematically shows a sensor arrangement for detecting an object with two sensor components, each having a positioning component, a marker arrangement arranged on an object carrier and a marker arrangement arranged on a sensor component according to a further embodiment of the invention.

[0178] Fig. 9 schematically shows a sensor arrangement for detecting an object with two sensor components, each having a positioning component, a marker arrangement arranged on an object carrier and a marker arrangement arranged on a sensor component according to a further embodiment of the invention.

[0179] Fig. 10 schematically shows a sensor arrangement for detecting an object with two sensor components, each having a localization component, a localization component arranged on the object carrier and a marker arrangement arranged in the environment according to a further embodiment of the invention.

[0180] Fig. 11 schematically shows a sensor arrangement for detecting an object with two sensor components, each having a marker arrangement, and two positioning components arranged on an object carrier according to a further embodiment of the invention.

[0181] The embodiments described below are merely examples that can be modified and / or supplemented in various ways within the scope of the claims. Each feature described for a specific embodiment in 32027 PWO FR 27 / 43 of December 11, 2025, can be used independently or in combination with other features in any other embodiment. Each feature described for an embodiment of a specific claim category can also be used analogously in an embodiment of a different claim category.

[0182] Fig. 1 schematically shows a sensor arrangement for detecting an object with a first sensor component 9, which has a receiving sensor component 10 and a positioning component 7b, which are jointly arranged and fixed to each other in the sensor component 9, and a second sensor component 4, which has a transmitting sensor component 5 and a positioning component 7a, which are also jointly arranged and fixed to each other in the sensor component 4.

[0183] An object is arranged on an object carrier 3, which is designed as a support platform. The object 1 is shown as an example of a vehicle. A marker arrangement 2 is arranged on the object carrier 3, comprising graphic markers 13 and geometric markers 14. The graphic markers 13 can include different position-specific graphic symbols. The geometric markers 14 can include markers of different shapes and / or sizes. Spheres are shown as an example. The positions of the markers 13 and 14 are stored in a database, which is accessed by a control and data processing system 12. The sensor components 9 and 4 are connected to the control and data processing system 12, which processes the data from the sensor components 9 and 4 to measure the object 1 and controls the sensor components 9 and 4.The control and data processing system 12 can synchronously control all sensor components and read and process the data from the sending and receiving sensor components. 32027 PWO FR 28 / 43 11 December 2025.

[0184] The transmitting sensor component 5, in the illustrated embodiment, is a laser source with a projection direction 6 pointing towards the object 1 to be measured. The positioning component 7a has a field of view 8a that captures a section of the marker arrangement 2. The receiving sensor component 10 has a field of view 11 that is aligned with the object 1 to be measured, on which the signals from the transmitting sensor component 5 are projected. The positioning component 7b has a field of view 8b that captures a section of the marker arrangement 2.The control and data processing system 12 can evaluate the signals of the positioning component 7a and the positioning component 7b with the data stored in the database concerning the marker arrangement 2 and thus determine the coordinates and orientation of the positioning component 7a and the positioning component 7b in a coordinate system in which object 1 and the signal of the transmitting sensor component 5 mapped onto the object are also arranged. Likewise, the coordinates and orientation of the transmitting sensor component 5 arranged with the positioning component 7a in sensor component 4 and of the receiving sensor component 10 arranged with the positioning component 7b in sensor component 9 can be determined in this way.Since the transmitting sensor component 5 and the receiving sensor component 10 can be arranged at any distance from each other, the size of which is limited only by the range of the signals with sufficient signal resolution, and since the sensor components can be located relative to each other in the coordinate system by sensing the marker arrangement 2 with the positioning components 7a, 7b, it is possible, according to the invention, to detect even large objects where triangulations with large distances between the triangulation points are required. Thus, the signals of the sensor components 4, 9, 5 and 10 can be used for the accurate detection of the shape and size of object 1. 32027 PWO FR 29 / 43 11 December 2025.

[0185] Fig. 2 schematically shows a sensor arrangement for detecting an object 1, in which, unlike the sensor arrangement according to Fig. 1, two pairs of sensor components 4, 9 are arranged on each side of the object 1. Each sensor component 4 has a receiving sensor component 5, which includes a line laser whose line is projected onto the object 1 via the projection directions 6. As shown in Fig. 1, the sensor components 9 have a positioning component 7b and receiving sensor components 10, which include cameras. As shown in Fig. 1, the sensor components 4 have a positioning component 7a and transmitting sensor components 5, which include line lasers. The marker arrangement 2 includes graphic markers 13, which are exemplified as QR codes.

[0186] Fig. 3 schematically shows a sensor arrangement for detecting an object 1, in which the object 1 is arranged on a rotating platform 15. The marker arrangement 2 is arranged on the edge of the rotating platform 15. By way of example, the marker arrangement comprises a combination of graphic markers 13 based on “STag” and geometric markers 14 shaped like spheres. Two pairs of sensor components 4, 9 are arranged outside the rotating platform 15 by way of example.

[0187] Fig. 4 schematically shows a sensor arrangement for detecting an object 1, in which the sensor components 4, 9 are arranged to be slidable or movable on a rail arrangement 16. The object 1 is arranged on an object carrier 17, which is preferably arranged between the rail arrangement 16. The object carrier can be designed as a platform. Advantageously, all sensor components 4, 9 can be moved individually. Suitable actuators can be provided for this purpose, which can be controlled by a control and data processing system not shown in Fig. 4. Alternatively or additionally, pairs of sensor components 4, 9 can also be moved synchronously and / or together. Alternatively or additionally, pairs of sensor components 4, 9 can also be fixed to the rail arrangement 16, provided that it is sufficient for other sensor components to be arranged to be movable. The sensor components shown in Fig.The marker arrangement shown in Figure 4 has a random dot pattern as graphic markers 13.

[0188] Fig. 5 schematically shows a sensor arrangement for detecting an object 1, which, due to its size, is not mounted on a slide but placed on the ground. An airplane is shown as an example. The sensor components 9 and 4 are attached to controllable flying objects 22, such as drones, which can be moved around the object. The marker arrangements 2 are placed on the ground and include, by way of example, a combination of spheres as geometric markers 14 and graphic markers 13 schematically based on "STag".

[0189] Fig. 6 schematically shows a sensor arrangement for detecting an object 1, which differs in the marker arrangement from the embodiment of Fig. 1 in that only graphic markers 13 are provided, which can also be combined with other graphic markers 13 and / or geometric markers 14.

[0190] Fig. 7 schematically shows a sensor arrangement for detecting an object 1, which differs from the embodiment of Fig. 1 in that only geometric markers 14 are provided, which can also be combined with other geometric markers 14 and / or graphic markers 13. Retroreflective spheres are shown as geometric markers 14. The positioning components 7a and 7b are equipped with lighting units for the use of the retro effect, which illuminate the area of ​​the marker arrangements 2 detected by the fields of view 8a, 8b of the respective positioning components 7a, 7b (e.g., with ring lamps around the lens openings of the positioning components designed as cameras). With different diameters, the spheres of the marker arrangement 2 encode a bit sequence which, when a minimum number of spheres are detected, uniquely determines the position within the marker arrangement 2.This is known to experts, for example, as the De Brui j n sequence. To better distinguish the two series of geometric markers, spheres with a smaller diameter can be chosen for the series furthest from the positioning components.

[0191] Fig. 8 schematically shows a sensor arrangement for detecting an object 1, in which the sensor component 4 orients itself by means of a correspondingly optimized positioning component 7c, which detects markers 18 of a marker arrangement 2 with its field of view 8c, which are arranged on another sensor component 9. The embodiment shown is an exemplary marker arrangement 2 with exclusively graphic markers 18.

[0192] Fig. 9 schematically shows a sensor arrangement for detecting an object 1, in which the sensor component 9 orients itself by means of a correspondingly optimized positioning component 7d, detects markers 19 of a marker arrangement 2 with its field of view 8d, which are arranged on another sensor component 4. A marker arrangement with exclusively (retroreflective) spherical markers is shown. Any other type of marker or combination of markers on the sensor component and / or the object carrier or the carrier platform would also be conceivable.

[0193] Fig. 10 schematically shows a sensor arrangement for detecting an object 1, in which the sensor components 4 and 9 orient themselves using their positioning components 7a and 7b on a marker arrangement 2 in the environment via their fields of vision 8a and 8b. The object carrier 3 positions itself using at least one of its own positioning components 7e with the associated field of vision 8e via the marker arrangement 2. The positions of the sensor components in the object's KOOS can also be calculated from the three poses of this external marker arrangement. (32027 PWO FR 32 / 43 11 December 2025)

[0194] The examples shown are exclusively graphic markers. Any other type of marker or combination thereof would also be conceivable.

[0195] Fig. 11 schematically shows a sensor arrangement for detecting an object 1, in which the sensor components 4, 9 are each equipped with marker arrangements 20 and 21, respectively. These markers are detected by the positioning cameras 7f, 7g, attached to the specimen carrier 3, to locate the sensor components 4, 9 within the object 1's KOOS (body oscillation system). The embodiment shown here uses only (retroreflective) spherical markers. Any other type of marker or combination of markers would also be conceivable.

[0196] To ensure that the individual sensor components 4, 5, 9, and 10 and marker arrangements 2 (e.g., cameras, lasers, markers) can be operated in a coordinated manner, calibration is advisable. The following describes, as an example, the calibration of a sensor arrangement using laser line triangulation, which includes a laser plane and a triangulation camera. Those skilled in the art will know how this concept can be implemented for other transmitting and receiving sensor components (e.g., for point lasers, laser pattern projectors, displays, light projectors, line detectors, etc.).

[0197] All cameras, i.e., both positioning components and transmitting and receiving sensor components, which may be triangulation cameras, for example, should be internally calibrated to correctly determine the direction of the lines of sight to the marker arrangements and features to be detected (e.g., markers or laser lines).

[0198] Using the embodiment shown in Fig. 1 as an example, two components of a sensor component 4 or 9, for example the positioning component 7a or 7b and the receiving sensor component 10 or the transmitting sensor component 5, can be stereo-calibrated relative to each other. These components can also be a triangulation camera 32027 PWO FR 33 / 43 11 December 2025 as the triangulation component, as well as a positioning component and a laser for a laser component. For this purpose, the location and orientation of the components in the KOOS of the respective associated positioning component should be well known. This stereo calibration of two components is also known to those skilled in the art for cases in which, as in the present invention, the components have two different fields of view and orientations.Two methods for stereo calibration between a laser plane and a camera, developed for the situation within the scope of the present invention, are described in more detail below.

[0199] As a general rule, all four components of a sensor module—i.e., the laser, triangulation camera, and their respective positioning components—should be activated synchronously for each individual measurement. This allows a valid partial data set to be recorded during a (scan) movement, in which the pose of the triangulation camera, the laser section (point, line, or pattern) detected on the object, and the spatial orientation of the laser projector (e.g., the laser plane) within the KOOS of the marker arrangement, determined from the image of the second positioning component, are all interconnected. Exposure times and time offset / jitter must be so short that the relative movement between the object being measured and the sensor components is small compared to the desired measurement resolution during this time interval. This typically occurs on the order of sub-milliseconds to a few milliseconds.

[0200] As the basis of the object KOOS, the marker arrangement can remain rigidly fixed, while the object to be measured should (only) be fixed stably relative to the marker arrangement during the measurement process.

[0201] To determine the poses (location and orientation of the

[0202] For the positioning components (and thus the sensor components), the spatial marker arrangement must be known as the "ground truth" (32027 PWO FR 34 / 43, December 11, 2025). Ideally, this "marker calibration" is performed once before the system is used by means of a highly precise, e.g., photogrammetric, all-around survey of the marker arrangement. If lower accuracy requirements exist, such a 3D model of the marker arrangement could also be calculated after the data acquisition from the images taken with the sensor components. Alternatively or additionally, it can be available, e.g., as CAD data, if the marker arrangement to be used can be manufactured from it with sufficient precision.

[0203] An example of a direct “stereo” calibration of the laser plane against the associated positioning component is as follows:

[0204] Requirements:

[0205] • The laser line of the transmitting sensor component should be clearly visible through the positioning component (with regard to overlapping field of view and compatible wavelength range).

[0206] • The location component should already be intrinsically calibrated.

[0207] Tool :

[0208] • Flat (calibration) target, e.g. a chessboard, possibly with a matte area on the target for good visibility of the laser line.

[0209] Procedure :

[0210] 1. The target could be moved within the field of view of the localization component so that the laser line is visible on it and can be detected by the receiving sensor component.

[0211] 2. Determining the pose of the target in the image of the localization component using standard procedures (e.g., using PnnP, "Perspective N-Point Problem"). 32027 PWO FR 35 / 43 December 11, 2025

[0212] 3. Detection of the laser line on the (matte area of ​​the) target(s). Calculation of the corresponding spatial line of this laser line in the positioning component-KOOS.

[0213] 4. Combining all spatial lines across multiple images to form a "middle" laser plane.

[0214] An example of an indirect “stereo” calibration of the laser plane against the associated positioning component is as follows:

[0215] Requirements:

[0216] • An already calibrated triangulation component, i.e., triangulation camera and associated positioning component, are both intrinsically calibrated and stereocalibrated to each other.

[0217] • An intrinsically calibrated localization component for the laser component to be calibrated.

[0218] • Measured / calibrated marker arrangement in the field of view of both localization components (e.g., slide platform with markers)

[0219] Tool :

[0220] • Flat (calibration) target, e.g., a chessboard, possibly with a matte area on the target for good visibility of the laser line.

[0221] Procedure :

[0222] 1. The target could be moved within the field of view of the triangulation camera so that the laser line is visible on it and captured by the camera.

[0223] 2. Determining the pose of the target in the triangulation camera image using standard methods (e.g., using PnnP = "Perspective N-Point Problem"). 32027 PWO FR 36 / 43 11 December 2025

[0224] 3. Detection of the laser line on the (matte area of ​​the) target (s). Calculation of the corresponding spatial line of this laser line in the triangulation camera KOOS.

[0225] 4. Transformation of the spatial line into the KOOS of the triangulation positioning component based on the previously known stereo calibration for the triangulation component.

[0226] 5. Transformation of the spatial lines into the KOOS of the marker arrangement based on the determined pose of the triangulation positioning component in this KOOS

[0227] 6. Transformation of the spatial line into the KOOS of the laser positioning component based on the determined pose of the laser positioning component in the marker KOOS

[0228] 7. Combining all spatial lines in the laser localization component KOOS to form a “mean” laser plane.

[0229] Alternatively, step 7, the union of all spatial lines to form the laser plane, can directly follow step 3. In subsequent transformation steps (4-6), instead of the individual spatial lines, the already calculated laser plane can be transformed into the KOOS of the sensor component. This variant could result in lower calibration accuracy than the previously mentioned examples, which have the advantage that a separate transformation of each line would subject the uncertainties of the transformations to statistical averaging, thus improving the calibration.

[0230] This indirect calibration method is possible if the sensor component or triangulation camera is designed to detect a laser line and the positioning component(s) is designed to detect the markers and determine their respective pose (that of the positioning component itself) within the KOOS of the markers. Direct calibration, on the other hand, would be possible if the positioning component of the laser component, designed for the detection of the marker array with respect to its field of view and wavelength (32027 PWO FR 37 / 43, December 11, 2025), also detects the laser line.

[0231] Alternatively or additionally, only one of the sensor components (transmitter or receiver) can be located relative to a marker arrangement on the object carrier by means of a positioning component, while another sensor component is located relative to a marker arrangement on the first sensor component by means of its positioning component, for example instead of a rigid mechanical connection, to establish the relationship between the two sensor components (see, e.g., the embodiments in Figures 8 and 9). These embodiments can be advantageous if there are restrictions in the field of view of the sensor components to the markers 13, 14 of the marker arrangements 2 on the object carrier 3.

[0232] Alternatively or additionally, the sensor components can be located in a different reference KOOS (coordinate system) by means of positioning components on a marker arrangement, e.g., the space in which the object is located. The object carrier—if present—can be equipped with one or more positioning components so that it can be located in this reference KOOS (see, e.g., the embodiment of Fig. 10). Such an embodiment would be advantageous if there is space on the object carrier for the arrangement of positioning components, but not for the arrangement of a larger marker array.

[0233] Alternatively or additionally, at least one sensor component, or several sensor components, can have a marker arrangement that can be located on the object carrier in its KOOS by at least one or more positioning components (see, for example, the embodiment of Fig. 11). Such positioning components could also be called tracking cameras, as the inverse equivalent of positioning components. This 32027 PWO FR 38 / 43 11 December 2025

[0234] Tracking cameras could be moved directly on the slide along with it. Therefore, they could be moved relative to the object. These tracking cameras should have a relatively large field of view (8f, 8g), as shown, for example, in Fig. 11, so that the sensor components can be captured throughout the entire movement of the object (slide).

[0235] According to the invention, the term "scope carrier with marker arrangement" can also refer to the ground on which marker arrangements are attached, as shown, for example, in Fig. 5.

[0236] In principle, any object environment that remains stationary during a measurement process and is sufficiently well-structured or contains many easily destructible objects or features is suitable as a marker arrangement. The object should ideally remain stationary relative to its environment. This object environment should be captured during the measurement process, for example, by the positioning components. A 3D environment / marker model can be calculated from this data before, during, or after the measurement process, and this model can then be used as the basis for pose determination during the actual measurement evaluation.

[0237] In all versions, additional sensor components and pairs of sensor components can also be provided, corresponding to the same version or one of the other versions.

[0238] In all versions, further marker arrangements 2 or markers 13, 14 can also be provided according to the same version or one of the other versions.

[0239] Naturally, the invention is not limited to the embodiments illustrated in the figures. The preceding description is therefore not to be considered limiting, but rather explanatory. The following claims are to be understood as meaning that a mentioned feature is present in at least one embodiment of the invention. This includes the 32027 PWO FR - 39 / 43 - 11 December 2025

[0240] The presence of further features is not excluded. Insofar as the claims and the preceding description define "first" and "second" features, this designation serves to distinguish between two similar features without establishing a hierarchy.

Claims

32027 PWO FR - 40 / 43 December 11, 2025 Claims 1. Sensor arrangement for detecting an object (1) with a sensor component (4, 9) , characterized in that the sensor arrangement has a positioning component (7a, 7b, 7c, 7d, 7e, 7f, 7g) and a marker arrangement (2) which are designed and arranged such that the coordinates of the positioning component (7a, 7b, 7c, 7d, 7e, 7f, 7g) and / or the sensor component (4, 9) can be determined with respect to the coordinates of the marker arrangement (2).

2. Sensor arrangement according to claim 1, characterized in that the localization component (7a, 7b, 7c, 7d, 7e, 7f, 7g) and the marker arrangement (2) are designed and arranged such that the orientation of the localization component (7a, 7b, 7c, 7d, 7e, 7f, 7g) and / or the sensor component (4, 9) with respect to the marker arrangement (2) can be determined with the localization component (7a, 7b, 7c, 7d, 7e, 7f, 7g).

3. Sensor arrangement according to one of the preceding claims, characterized in that the sensor component (9) comprises a receiving sensor component (10) which is designed and arranged such that the sensor component (9) receives a signal from the object (1).

4. Sensor arrangement according to one of the preceding claims, characterized in that the sensor component (4) comprises a transmitting sensor component (5) which is designed and arranged such that the sensor component (5) sends a signal to the object (1).

5. Sensor arrangement according to one of the preceding claims, characterized in that the positioning component (7a, 32027 PWO FR - 41 / 43 December 11, 2025 7b, 7c, 7d, 7e, 7f, 7g) receives a signal from the marker arrangement (2).

6. Sensor arrangement according to one of the preceding claims, characterized in that the receiving sensor component (10) and the positioning component (7b) are arranged in a sensor component (9), wherein the receiving sensor component and the positioning component are preferably arranged and designed in the sensor component such that the position and orientation of the receiving sensor component and the positioning component are fixed.

7. Sensor arrangement according to one of the preceding claims, characterized in that the transmitting sensor component (5) and the localization component (7a) are arranged in a sensor component (4), wherein the transmitting sensor component and the localization component are preferably arranged and designed in the sensor component such that the position and orientation of the transmitting sensor component and the localization component are fixed.

8. Sensor arrangement according to one of the preceding claims, characterized in that the object (1) is arranged on a slide arrangement (3), and the marker arrangement (2) is arranged on the slide arrangement (3), wherein the slide arrangement preferably comprises a rotary stage.

9. Sensor arrangement according to one of the preceding claims, characterized in that the sensor component (4, 9) is arranged to be displaceable on a rail arrangement (16).

10. Sensor arrangement according to one of the preceding claims, characterized in that the sensor component (4, 9) is arranged on a space-controllable flying object (22). 32027 PWO FR - 42 / 43 December 11, 2025 11. Sensor arrangement according to one of the preceding claims, characterized in that the marker arrangement (2) is arranged on the sensor component (4, 9).

12. Sensor arrangement according to one of the preceding claims, characterized in that the localization component (7e, 7f, 7g) is arranged on the slide (3) on which the object (1) is arranged.

13. Sensor arrangement according to one of the preceding claims, characterized in that the sensor arrangement comprises several sensor components (4, 9).

14. Sensor module for detecting an object with at least one sensor arrangement according to one of the preceding claims, comprising at least one transmitting sensor component (5), and with at least one sensor arrangement according to one of the preceding claims, comprising at least one receiving sensor component (10).

15. Sensor technology for detecting an object (1) with multiple sensor arrangements according to one of claims 1 to 13 and / or at least one sensor module according to claim 14.

Images