Time-Spaced Robotic Reference Frames for Unobstructed Navigation

The patent transitions from a spatial reference frame to a temporal reference frame. Instead of using a large physical structure in space, the system uses a small physical marker that is captured at multiple time points (multiple poses) to define a virtual reference frame. This dimensional shift from space to time resolves the contradiction by achieving large reference frame accuracy without the physical obstruction of a large structure.

The patent creates a virtual copy of a large reference frame by capturing the position of a small physical marker at multiple poses. The sequence of marker positions is processed to generate a virtual reference frame that has the same navigational utility as a large physical frame but without the physical bulk. This copying approach allows accurate navigation while keeping the operation field accessible.

The system compensates for the small physical size of the marker by extending its effective reference volume into the time dimension. By capturing the marker at multiple poses (different times and positions), the system constructs a virtual reference frame with large spatial extent, thereby achieving high navigation accuracy with a small physical marker that does not obstruct the operation field.

The reference frame is made dynamic rather than static. Instead of a fixed large structure, the system uses a small marker that moves through multiple poses to dynamically define the reference frame. This dynamic approach allows the reference information to be distributed throughout the navigation volume without requiring a large static structure, thus maintaining both accuracy and ease of operation.

The patent replaces the need for a large, complex, and potentially unstable physical reference frame with a computational copy created from multiple marker positions. The virtual reference frame derived from processing marker data across multiple poses provides stable reference information without the structural complexity and physical instability issues of large mechanical frames.

The system replaces the mechanical reference frame structure with an information-based computational system. Instead of relying on the physical stability of a large mechanical structure, the reference frame stability is achieved through computational processing of marker positions, substituting mechanical stability with information processing stability.