Retroreflector Distribution for 6D Pose Determination
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Solution Overview
Problem
Existing marker distributions for coordinate measuring machines are complex and inefficient, often resulting in non-uniqueness in position and orientation determination due to symmetry issues and poor signal separation, especially in industrial applications where a minimum number of observations is required over all orientations.
Innovation Solution
A measuring apparatus with a distribution of retroreflectors arranged such that at least three retroreflectors are observable from three spatially different observation locations in 90% of all possible orientations, with a distance range of 0.1 m to 30 m, and each retroreflector having a maximum acceptance angle and diameter of 1 mm to 50 mm, ensuring minimal spacing and high reflectance for accurate distance measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If symmetric arrangements of markers are used, then the device complexity is reduced, but the measurement precision deteriorates due to non-uniqueness in position and orientation determination
Solution Approach 1:
The patent applies asymmetry by arranging retroreflectors in a specifically optimized asymmetric distribution pattern rather than using symmetric arrangements. This asymmetric configuration eliminates the symmetry-induced non-uniqueness problem in position and orientation determination, allowing the measurement system to uniquely identify the object's 6D pose from distance measurements to multiple retroreflectors.
2Reliability
If many markers are used, then the reliability of position and orientation determination is improved, but the device complexity increases and signal separation becomes difficult
Solution Approach 1:
The patent applies parameter changes by optimizing specific parameters of the retroreflector distribution including the number of retroreflectors (at least three), their spatial coordinates, and angular positions. This optimized parameter configuration ensures sufficient reliability for 6D determination while maintaining manageable system complexity and improving signal separability through deliberate geometric spacing.
Solution Approach 2:
The patent applies partial action by using the minimum necessary number of retroreflectors (at least three) required to determine 6D position and orientation, rather than using excessive numbers of markers. This minimal sufficient configuration achieves the required measurement reliability without unnecessarily increasing device complexity or signal processing difficulty.
3Measurement precision
If retroreflectors are arranged to maximize usable aperture, then the measurement precision is improved, but the adaptability to different observation locations deteriorates
Solution Approach 1:
The patent applies universality by designing a retroreflector distribution that serves multiple functions simultaneously: it maximizes the usable aperture for distance measurement precision while also ensuring that at least three retroreflectors remain observable from at least three different spatial observation locations across various object orientations. This multi-functional design achieves both measurement precision and adaptability requirements.
Solution Approach 2:
The patent applies dynamics by creating a retroreflector arrangement that adapts to different observation conditions and object orientations. The specific geometric distribution ensures that regardless of the object's orientation or the observer's location, the system dynamically maintains observability of at least three retroreflectors, providing consistent measurement capability across varying conditions.
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 arrangement guarantees reliable determination of 6D information items across various orientations, enhancing the accuracy and efficiency of position and orientation calculations while minimizing the number of required retroreflectors and reducing shadowing effects.
Implementation Method 1
passive markers, for example retroreflectors, may be attached to the object and an active measuring device, for example a light detection and ranging (LIDAR) distance measurement
Data Source
AI summary
A measuring apparatus for determining object data of at least one test object includes at least one distribution of retroreflectors. The retroreflectors are arranged on the measuring apparatus. The distribution has at least so many retroreflectors that at least three retroreflectors are observable at at least three spatially different observation locations in at least 90% of all possible spatial orientations of the measuring apparatus. A distance range of the observation locations is 0.1 m to 30 m. Each of the retroreflectors has a maximum acceptance angle. Each of the retroreflectors has a diameter of 1 mm to 50 mm. The retroreflectors are arranged such that, for each of the observation locations, a minimum spacing of measured retroreflector distances of the observable retroreflectors is 0.1 mm to 50 mm.