US 12,073,582 B2
Method and apparatus for determining a three-dimensional position and pose of a fiducial marker
David James Huber, Malibu, CA (US); Deepak Khosla, Malibu, CA (US); Yang Chen, Malibu, CA (US); Brandon Courter, North Charleston, SC (US); Luke Charles Ingram, North Charleston, SC (US); Jacob Moorman, Los Angeles, CA (US); Scott Rad, Santa Monica, CA (US); and Anthony Wayne Baker, Ridley Park, PA (US)
Assigned to THE BOEING COMPANY, Arlington, VA (US)
Filed by THE BOEING COMPANY, Chicago, IL (US)
Filed on Oct. 1, 2021, as Appl. No. 17/491,634.
Claims priority of provisional application 63/138,931, filed on Jan. 19, 2021.
Prior Publication US 2022/0230348 A1, Jul. 21, 2022
Int. Cl. G06K 9/00 (2022.01); G06T 7/70 (2017.01)
CPC G06T 7/70 (2017.01) [G06T 2207/30204 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus for training a model to determine a three dimensional (3D) position and orientation of a fiducial marker, the apparatus comprising:
a wider field-of-view sensor configured to acquire a static image of a space in which the fiducial marker is disposed;
a narrower field-of-view sensor configured to acquire a plurality of images of at least a portion of the fiducial marker;
a pan-tilt unit configured to support the narrower field-of-view sensor and to controllably alter a pan angle and a tilt angle at which the narrower field-of-view sensor is positioned relative to the fiducial marker such that the narrower field-of-view sensor is configured to acquire images of the fiducial marker at different pan and tilt angles; and
a control system configured to determine a transformation of position and orientation information determined from the images acquired by the narrower field-of-view sensor to a coordinate system for the space for which the static image is acquired by the wider field-of-view sensor, wherein the control system is configured to determine the transformation by determining model parameters to minimize a loss function defining an error metric between a position and orientation of the fiducial marker in a coordinate system for the space for which the static image is acquired by the wider field-of-view sensor and in a local coordinate system of the narrower field-of-view sensor.