Method and system of spatial localization by luminous markers for any environment (Machine-translation by Google Translate, not legally binding)

摘要

Method and system of spatial localization of an objective (10) in a three-dimensional environment (11) comprising at least one luminous marker comprising: - a stereo camera (12) for capturing a first image frame at a current time and a second image frame at a previous instant; - an angle measuring device (13) for obtaining an angle of rotation of the lens (10); - a signal processor (14) with access to a memory (15) that stores among others a radius of the at least one marker detected at a current time instant n and at a previous time instant N-1 configured to calculate some coordinates (xi, andi) of the target (10) at a time instant i as follows: - if the angle of rotation at the current time instant and at the previous time instant are different, (xn, andn) = (xn -1, andn-1); - if the two image frames are equal, (x {sub, n, andn) = (xn-1, andn -1); - in another case: - if the radii are equal and there are several markers, (xn, andn) are calculated by triangulation using both image frames; - if the radii are different and there are several markers, (xn, andn) are calculated by triangulation using a single image frame; - if the radii are different and there is a single marker, (xn, andn) are calculated by stereo geometry; - if the radii are the same and there is a single marker, (xn, andn) are calculated using image coordinates of the marker at the current time and the previous one. (Machine-translation by Google Translate, not legally binding)