Movable Camera Calibration for 6-DOF Pose Tracking
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Solution Overview
Problem
Existing methods for determining the 6-DOF-pose of an object in space are limited by accuracy, flexibility, and cost-effectiveness, particularly in requiring multiple cameras to cover larger common measuring spaces and achieving precise measurements.
Innovation Solution
A method and system that utilize a plurality of cameras arranged at individual 6-DOF-poses to create a common measuring space, with at least one movable camera to adjust perspectives, and a marker assembly with spatial parameters captured to determine the 6-DOF-pose of an object, allowing for flexible and accurate tracking with fewer cameras.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple cameras are used to cover a larger common measuring space, then the coverage area increases, but the system cost and complexity increase
Solution Approach 1:
The patent makes the camera system dynamic by allowing cameras to be moved to different positions and orientations. Instead of using multiple fixed cameras simultaneously, the system uses a single camera that can be repositioned and recalibrated to capture images from multiple viewpoints, thereby covering a larger measuring space while reducing the number of cameras needed
Solution Approach 2:
The patent introduces temporal dimension to the measurement process by capturing images at different times from different camera positions. The same physical space is measured across multiple time points, allowing a single camera to effectively cover a larger volume that would otherwise require multiple simultaneous cameras
2Reliability
If multiple cameras are arranged at fixed positions, then the common measuring space is defined, but the flexibility to adjust perspectives is limited
Solution Approach 1:
The system transitions from static fixed-position cameras to dynamic movable cameras that can be repositioned and recalibrated. This allows the measurement system to adapt to different objects and measurement requirements while maintaining accuracy through recalibration against reference objects at each new position
Solution Approach 2:
The patent changes the positional parameters of the camera by moving it to different locations and orientations. The camera's position and orientation parameters are adjusted to optimize the measurement perspective for different objects, and calibration parameters are updated accordingly to maintain measurement accuracy
3Adaptability or versatility
If cameras are moved to adjust the common measuring space, then the adaptability improves, but the calibration complexity increases
Solution Approach 1:
The patent performs calibration in advance by capturing images of reference objects with known geometries at each camera position before actual measurements. This preliminary calibration step establishes the relationship between camera coordinates and world coordinates, simplifying subsequent measurements and reducing real-time calibration complexity
Solution Approach 2:
The system uses reference objects with known, reproducible geometries as calibration targets. These reference objects serve as standardized copies that can be used repeatedly to establish coordinate transformations, simplifying the calibration process compared to calibrating against arbitrary objects
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances accuracy and flexibility while reducing costs by minimizing the number of cameras needed, allowing for precise determination of the 6-DOF-pose of objects in space with improved detectability and tracking capabilities.
Implementation Method 1
capturing at least one respective image of said marker assembly attached to the object using the plurality of cameras
Implementation Method 2
Using image processing technologies, the 6-DOF-pose of the at least one 2D optical-tracking marker and, consequently, the 6-DOF-pose of the object in space can be determined
Data Source
AI summary
A method and a system for determining a 6-DOF-pose of an object in space use at least one marker attached to the object and a plurality of cameras. Perspectives of the cameras are directed to a common measuring space in which the object is positioned. At least one camera from the plurality of cameras is movable such that the movable camera can be adjusted with respect to the object. At least one of the cameras captures an image of said marker attached to the object. Based on the at least one captured image, spatial parameters representing the 3D-position or the 6-DOF-pose of the marker and, consequently, the 6-DOF-pose of the object in space can be determined.