US 11,854,222 B2
Determination of relative position of an object
Graham Ross, Oceanside, CA (US); and Robert L Kay, Thousand Oaks, CA (US)
Filed by K2R2 LLC, Camarillo, CA (US)
Filed on Jan. 16, 2023, as Appl. No. 18/097,450.
Application 18/097,450 is a continuation of application No. 17/240,718, filed on Apr. 26, 2021, granted, now 11,587,251.
Application 17/240,718 is a continuation of application No. 16/044,321, filed on Jul. 24, 2018, granted, now 11,017,549, issued on May 25, 2021.
Application 16/044,321 is a continuation of application No. 15/483,626, filed on Apr. 10, 2017, granted, now 10,078,908, issued on Sep. 18, 2018.
Claims priority of provisional application 62/374,277, filed on Aug. 12, 2016.
Prior Publication US 2023/0162385 A1, May 25, 2023
Int. Cl. G06T 7/70 (2017.01); G06T 7/73 (2017.01); H04N 13/239 (2018.01); H04N 23/57 (2023.01); H04N 23/90 (2023.01)
CPC G06T 7/70 (2017.01) [G06T 7/73 (2017.01); H04N 13/239 (2018.05); H04N 23/57 (2023.01); H04N 23/90 (2023.01); G06T 2207/10012 (2013.01); G06T 2207/30164 (2013.01); G06T 2207/30204 (2013.01); Y10S 901/47 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method of determining a position and orientation of an object having a plurality of fiducials attached thereto, comprising the steps of:
forming images of the plurality of fiducials on a sensitive surface of a sensor;
determining a 2D location of each of the images of the plurality of fiducials on the sensitive surface;
associating each 2D location with a 3D position of the same fiducial in a first coordinate system of the object; and
determining a first position and a first orientation of the object with respect to the sensitive surface of the sensor based in part on the 2D locations and the 3D positions.