US 11,941,840 B2
Method and apparatus for hand-off and tracking for pose estimation of a fiducial marker
Yang Chen, Malibu, CA (US); Deepak Khosla, Malibu, CA (US); David Huber, Malibu, CA (US); Brandon M. Courter, North Charleston, CA (US); Shane E. Arthur, Seattle, WA (US); Chris A. Cantrell, Seattle, WA (US); and Anthony W. Baker, Ridley Park, PA (US)
Assigned to THE BOEING COMPANY, Chicago, IL (US)
Filed by THE BOEING COMPANY, Chicago, IL (US)
Filed on Sep. 21, 2021, as Appl. No. 17/448,294.
Prior Publication US 2023/0090757 A1, Mar. 23, 2023
Int. Cl. G06T 7/73 (2017.01); B25J 9/16 (2006.01); H04N 23/69 (2023.01); H04N 23/695 (2023.01)
CPC G06T 7/73 (2017.01) [B25J 9/1697 (2013.01); H04N 23/69 (2023.01); H04N 23/695 (2023.01); G06T 2207/30208 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus for tracking a three-dimensional location and orientation of a fiducial marker across two or more fields-of-view, the apparatus comprising:
a first sensor having a first field-of-view configured to acquire a first image of a workspace in which the fiducial marker is disposed;
a control system configured to determine the three-dimensional location and orientation of the fiducial marker within the workspace based on the first image of the workspace in which the fiducial marker is disposed; and
a second sensor having a second field-of-view configured to acquire a second image of a second space, different from the workspace,
wherein the control system calculates first pan and tilt information for the second sensor to move the second field-of-view of the second sensor to acquire a fiducial marker image, and
wherein the control system is configured to determine the three-dimensional location and orientation of the fiducial marker within the second space based on the fiducial marker image.