US 12,488,499 B2
Positioning method, operating method and positioning device
Hui-Ping Kuo, Hsinchu (TW); Yi-Ming Wu, New Taipei (TW); and Wen-Fang Cheng, Yuanlin (TW)
Assigned to INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE, Hsinchu (TW)
Filed by INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE, Hsinchu (TW)
Filed on Dec. 28, 2022, as Appl. No. 18/089,875.
Prior Publication US 2024/0221211 A1, Jul. 4, 2024
Int. Cl. G06T 7/73 (2017.01); G06K 7/14 (2006.01)
CPC G06T 7/74 (2017.01) [G06K 7/1417 (2013.01); G06T 2207/30204 (2013.01); G06T 2207/30244 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A positioning method, comprising:
capturing, by a first one of a plurality of first positioning devices, a target anchor point to obtain a first pose information of the first one of the first positioning devices relative to the target anchor point, wherein the first positioning devices and the target anchor point are outside a first positioning space;
outputting, by the first one of the first positioning devices, an image marker and an additional information including the first pose information;
by a second one of the first positioning devices, capturing the image marker of the first one of the first positioning devices and receiving the additional information of the first one of the first positioning devices, as well as obtaining a third pose information of the second one of the first positioning devices relative to the first one of the first positioning devices according to the image marker of the first one of the first positioning devices;
outputting, by the second one of the first positioning devices, an image marker and an additional information including the first pose information and the third pose information;
by a second positioning device being in the first positioning space, capturing the image marker of the second one of the first positioning devices and receiving the additional information of the second one of the first positioning devices;
obtaining, by the second positioning device, a second pose information of the second positioning device relative to the second one of the first positioning devices according to the image marker of the second one of the first positioning devices;
obtaining, by the second positioning device, a positioning-pose information of the second positioning device in the first positioning space through a positioning means different from an image marker capturing means; and
obtaining, by the second positioning device, a target pose information of the target anchor point relative to the first positioning space according to the first pose information, the second pose information, the third pose information and the positioning-pose information.