Algorithm for Computing of Information about Six DOF Motion in 3-D Space Sampled by 2-D CCD Array

摘要

The paper describes algorithm for the computing of information about six DOF motion in 3-D space sampled by 2-D CCD array. The algorithm for the computation of the location and orientation is based on the inverse transformation of the final trapezoidal light spots position, related to the original square light spots position on the 2-D CCD array. The CCD array image consists of 4 light spots (strips) produced by four light beams (planes) from laser diodes. These light beams (planes) form the edges (faces) of a pyramidal shape with the 2-D CCD array forming its base and the origin of the laser sources forming its apex. This algorithm determines the relative location and orientation of a floating 2-D coordinate frame (corresponding to the 2-D CCD array) against a fixed 3-D coordinate frame (corresponding to the apex of the pyramidal shape).