Abstract: The invention relates to a positioning method for determining the position and orientation of a mobile unit having a receiver (3?), whereby the receiver (3?) is detected by a scanner (2?), said scanner (2?) determining at least the distance and a direction in relation to the receiver (3?). The radiation emitted by the sensor is detected by the receiver (3?) and the direction of incidence of radiation and the direction of incidence of radiation in relation to an axis of reception are derived while an offset of the incident radiation in relation to the axis of reception (EA) is determined. Position and orientation of the unit are derived from at least the distance, the direction in relation to the receiver (3?), the offset and the direction of incidence as the position information and the unit is optionally controlled via the optical connection (OV).

Abstract: Arbitrarily deploying scanning polarized RF reference sources and using them to establish a full position and angular orientation reference coordinate system or a full angular orientation reference coordinate system that objects property equipped with polarized RF sensors could use to determine their angular position and/or orientation relative to the reference coordinate system.

Abstract: A projector is provided which includes a distance measuring unit which can accurately measure distances to a plurality of points on a surface of a screen using light rays. The projector of the invention has the distance measuring unit for measuring distances to the plurality of points on the surface of the screen, which includes a plurality of light ray units for irradiating light rays onto the screen and one light receiving element for receiving the light rays which are reflected on the surface of the screen, and a tilt angle calculation unit for calculating a tilt angle of the screen relative to the projector based on the distances to the plurality of points on the surface of the screen which are measured by the distance measuring unit.

Abstract: Systems and methods to calibrate aircraft surfaces are provided. A particular method includes installing a set of laser targets. The set of laser targets includes at least first laser target and a second laser target. The first laser target is installed on a first side of a first aircraft surface and the second laser target is installed on a second side of the first aircraft surface at a known location relative to the first laser target. The method also includes determining a first position of the first laser target with a first laser device. The method further includes determining a second position of the second laser target with a second laser device. The method includes determining a position of the first aircraft surface based on the first position of the first laser target and the second position of the second laser target.

Abstract: Structures of a backside of a wafer can be aligned to structures of a frontside of the wafer for a lithographic treatment of the backside. The wafer is transparent for electromagnetic radiation of a specific wavelength. The wafer is placed on a wafer stage such that the frontside is facing the wafer stage and the backside is facing alignment optics. The backside is illuminated with electromagnetic radiation of the specific wavelength in a dark-field configuration, such that the electromagnetic radiation propagates through the wafer towards three-dimensional structures of a three-dimensional alignment target located at the frontside or inside the wafer and is scattered at the three-dimensional structures. The scattered electromagnetic radiation is captured with the alignment optics, and the backside is aligned to the frontside of the wafer based on the scattered electromagnetic radiation.

Abstract: An electro-magnetic tracking system includes a system controller having a sensor interface, a generator, and a positioning and angular orientation configuration. The generator is responsive to the system controller for generating an electro-magnetic field that includes a tracking volume of highest accuracy. The highest accuracy corresponds to an accuracy of the sensor interface and system controller to detect a sensor physically located within the tracking volume versus a lesser accuracy of the sensor interface and system controller to detect the sensor if the sensor is located outside of the tracking volume. The positioning and angular orientation configuration is coupled to the field generator for visibly optimizing (i) a positioning and/or (ii) an angular orientation of the electro-magnetic field generator such that the tracking volume lies within a centroid of a physical volume of interest, thereby enabling a detection of a sensor within the tracking volume with a highest accuracy.

Abstract: Detection sensors utilizing linear arrays using one or more linear arrays of detectors sampled at a high rate. The invention is useful for target detection including hydrocarbon events such as guns, mortars, RPG missiles and artillery firings, lightning, and other optical events.

Abstract: A detecting assembly for multi-axis machine tools having a spindle and a turntable and has a detector, a lens device and a computer. The detector is connected to the spindle and has a mounting frame and two detecting segments. The mounting frame is connected to the spindle and has a connecting rod, a bottom board and multiple mounting boards. The detecting segments are mounted on the mounting boards and each has a light source and a sensor. The lens device is mounted on the turntable, extends into the detector and has a supporting shaft and a spherical lens. The spherical lens is mounted on an upper end of the supporting shaft to align light emitted from the light sources with corresponding sensors via the spherical lens. The computer is electrically connected to the detector to receive signals of the detecting segments of the detector and has a signal processor.

Abstract: A surveying method using a the video total station comprises placing the video total station on a first platform, recording a first image of scenery, placing the video total solution on a second platform disposed at a distance from the first platform, measuring the distance from the first platform and recording a second image of the scenery. Three-dimensional coordinates of objects contained in the images are determined by a photogrammetric analysis of the images based on the measured distance. Further, orientations of the video total station can be recorded when taking the images and when measuring the distance.

Abstract: A satellite surveillance countermeasure system uses an airborne platform to position a coherent radiation source above a substantial portion of the Earth's atmosphere. The coherent radiation source provides coherent radiation that is directed toward an enemy surveillance satellite, so as to reversibly deny the satellite the ability to image. By positioning the coherent radiation source at such an altitude, atmospheric attenuation and distortion are mitigated. Thus, a smaller, less powerful and less costly coherent radiation source can be utilized. The use of an airborne platform also makes the system more portable and affordable.

Abstract: An optoelectronic system for checking the relative attitude of component parts of an HSA (32) including a base (2); a reference system (40) connected to the base and having a stationary support (3) adapted to cooperate with positioning surfaces (34) of the HSA, and a floating device (10) which floats with respect to the stationary support and is adapted to cooperate with working surfaces (33) of the HSA; an optoelectronic detection device; and a processing unit for receiving and processing signals of the optoelectronic detection device. The floating device includes a floating element (11) adapted to cooperate with the optoelectronic detection device.

Abstract: An optical measurement device for determining at least two parameters of a measurement location of a surface of at least one workpiece positioned in a known coordinate system is described. The device comprises a first light source providing a first measurement beam. The first measurement beam is directed at a first surface of a workpiece. The device also comprises a second light source providing a second measurement beam. The second measurement beam is directed at a second surface of a workpiece facing opposite the first surface. Further, the device comprises a first system of receiving optics. The first system of receiving optics detects the incoming position of the first measurement beam. The first system of receiving optics is positioned on an opposite side of a workpiece from the first light source. Further still, the device comprises a second imaging system. The second system of receiving optics detects the incoming position of the second measurement beam.

Abstract: A multi-dimensional measuring system is disclosed wherein a laser-based tracking unit communicates with an optical target on a measurement instrument to obtain position and orientation information about the instrument. The optical target incorporates a plurality of encoders configured to provide a full 360° working range in pitch, yaw and roll. Full working range in pitch and yaw is achieved through the use of a pitch/yaw angular encoder. Full 360° working range in roll is achieved with a combination of a level sensor and a 360° angular encoder, which are fixed to a pendulum so that the level sensor is always aligned to gravity. Use of a slip-ring mechanism ensures the unlimited full working range in roll. The measurement instrument includes a scanner integrated with a probe receptacle adapted to accept a probe assembly to provide the instrument with both a scanning measurement and a probe measurement capabilities.

Abstract: The invention relates to an optoelectronic measurement method for determining a position, particularly an angle or a length, of a code carrier (10) that carries a position code (11) and is movable relative to a detector element (30) with a degree of freedom, particularly in a rotary or translational fashion. The detector element (30) has at least one line in the longitudinal direction comprising a plurality of light-sensitive receiving regions (31) disposed in a linear fashion. In the course of the positional measurement method, a projection is produced of part of the position code (11) on the detector element (30) that is dependent on the position of the code carrier (10); said projection is produced by at least an emission of optical radiation onto the code carrier (10) using a laser diode (20) having an emitter edge (21), and said projection is detected by the detector element (30). The position of the code carrier (10) relative to the detector element (30) is derived from the projection.

Abstract: The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.

Abstract: An imaging member adjustment system for an imaging module includes an imaging field opposing the imaging module and positioning targets provided in connection with the imaging field. The imaging module includes an optical source generating an optical path, an imaging member responsive to input from the optical source, and a lens interposed between the imaging member and imaging field. At least one adjustment mechanism is operatively connected to the imaging member for adjusting the imaging member with respect to the imaging field. A controller operatively communicates with the imaging member and the at least one adjustment mechanism. In operation, the positioning targets interrupt the optical path and provide positioning information to the controller. In turn, the controller signals the at least one adjustment mechanism to adjust the imaging member in any of horizontal and vertical direction to optimize focus and alignment of the imaging member with respect to the imaging field.

Abstract: An optical tracking device, includes an azimuth sub-assembly providing a 360-degree range of motion and a transducer sensing the azimuth position within this range of motion; and an elevation sub-assembly coupled to the azimuth sub-assembly and providing at least a ?30-degree to +100-degree range of motion and a transducer sensing the elevation position. A cross-elevation sub-assembly is coupled to the elevation sub-assembly and provides at least a ±14-degree optical range of motion and a transducer sensing the cross-elevation position. An elevation gyroscope is affixed to the elevation sub-assembly and generates an elevation rate signal; and a cross-elevation gyroscope is affixed to the elevation sub-assembly and generates a cross-elevation rate signal. A controller receives the azimuth, elevation, and cross-elevation position signals, and the elevation and cross-elevation rate signals and sends command signals to the sub-assemblies to initiate movement to allow inertially stabilized tracking of an object.

Abstract: Disclosed is a method and apparatus for processing signals in a satellite/laser positioning system capable of generating location coordinates from received satellite signals and a received laser signal. A height coordinate bias value is maintained by a filter processor during periods when the laser signal is available. The height coordinate bias value represents an estimated difference between a satellite signal derived height coordinate and a laser signal derived height coordinate. During periods when the laser signal is available, the laser signal derived height coordinate is output. During periods when the laser signal is not available, a corrected height coordinate value is generated by applying the height coordinate bias value to the satellite signal derived height coordinate.

Abstract: A method and apparatus for determining camera pose characterized by six degrees of freedom (e.g., for use in computer vision systems) is disclosed. In one embodiment an image captured by the camera is received, and at least two constraints on the potential pose are enforced in accordance with known relations of the image to the camera, such that the potential pose is constrained to two remaining degrees of freedom. At least one potential pose is then determined in accordance with the remaining two degrees of freedom.

Abstract: The invention relates to a positioning method for determining the position and orientation of a mobile unit having a receiver (3?, whereby the receiver (3) is detected by a scanner (2), said scanner (2? determining at least the distance and a direction in relation to the receiver (3). The radiation emitted by the sensor is detected by the receiver (3? and the direction of incidence of radiation and the direction of incidence of radiation in relation to an axis of reception are derived while an offset of the incident radiation in relation to the axis of reception (EA) is determined. Position and orientation of the unit are derived from at least the distance, the direction in relation to the receiver (3?), the offset and the direction of incidence as the position information and the unit is optionally controlled via the optical connection (OV).

Abstract: The invention relates to a satellite metrology system for satellite formation flight comprising at least one reference satellite (SR) and one secondary satellite (SS). In the reference satellite, an optical source (SO) emits a light beam intended to illuminate the secondary satellite (SS) and a set of light detectors (CCD) detects the light reflected by the secondary satellite. A measuring circuit (CI) is used for detecting the detector or detectors that receive the light from the secondary satellite. In the secondary satellite (SS) at least one reflector (RR1) receives the illumination light from the reference satellite and reflects it towards the set of detectors (CCD) of the reference satellite.

Abstract: One or more fixed-orientation fanned laser beams and one or more displacement measurement devices to precisely measure the orientation of a payload platform are disclosed in a metrology system and method. The measurement devices may be distributed at locations across a payload platform such that displacement changes of these devices can be used to accurately determine platform pointing. Laser beam transmitters may be fixed in the same reference block to which a spacecraft attitude sensor is mounted. Fanned laser beams are transmitted from these sources to the measurement devices so that their displacements can be determined with respect to the plane of the fanned beams and thereby with respect to the spacecraft attitude sensor. Only a small number of fixed laser beams are needed to achieve precision measurements at a reduced cost, weight and power, and with increased system reliability and simplified system integration.

Abstract: A laser target reflector assembly for mounting upon spacecraft having a long-range reflector array formed from a plurality of unfiltered light reflectors embedded in an array pattern upon a hemispherical reflector disposed upon a mounting plate. The reflector assembly also includes a short-range reflector array positioned upon the mounting body proximate to the long-range reflector array. The short-range reflector array includes three filtered light reflectors positioned upon extensions from the mounting body. The three filtered light reflectors retro-reflect substantially all incident light rays that are transmissive by their monochromatic filters and received by the three filtered light reflectors. In one embodiment the short-range reflector array is embedded within the hemispherical reflector.

Abstract: A system for detecting motion between a first body and a second body includes first and second detector-emitter pairs, disposed on the first body, and configured to transmit and receive first and second optical beams, respectively. At least a first optical rotator is disposed on the second body and configured to receive and reflect at least one of the first and second optical beams. First and second detectors of the detector-emitter pairs are configured to detect the first and second optical beams, respectively. Each of the first and second detectors is configured to detect motion between the first and second bodies in multiple degrees of freedom (DOFs). The first optical rotator includes a V-notch oriented to form an apex of an isosceles triangle with respect to a base of the isosceles triangle formed by the first and second detector-emitter pairs. The V-notch is configured to receive the first optical beam and reflect the first optical beam to both the first and second detectors.

Abstract: The present invention provides an editing apparatus, an editing method, and a program by which a user can freely and easily apply an effect while visually confirming a motion-image to be edited. The editing apparatus includes a playback/display unit that plays back and displays a motion-image, a position designation unit that designates the positions on the motion-image played back and displayed by the playback/display unit, a coordinate conversion unit that converts the positions designated by the position designation unit into virtual coordinates on the motion image, a storage unit that stores the virtual coordinates obtained by the coordinate conversion unit in association with frames of the motion-image, and an effect application unit that applies an effect to the motion-image based on the virtual coordinates stored in the storage unit.

Abstract: A laser surveying instrument, comprising a laser projector for projecting a laser beam by rotary irradiation and designed as tiltable, a tilting unit for tilting the laser projector, a rotating unit for integrally rotating the tilting unit and the laser projector in horizontal direction, a tilt setting unit for tilting the laser projector with respect to the rotating unit and for setting a target tilt angle, a tilt angle detector for detecting tilting of the laser projector, tilt sensors provided on the tilt setting unit in two directions perpendicularly crossing and for detecting horizontal direction, a horizontal angle detector for detecting horizontal rotation angle of the rotating unit, and an arithmetic control unit for controlling rotation angle of the rotating unit based on detection results of the tilt sensors and based on detection results of the horizontal angle detector.

Abstract: A method of detecting the presence of a suspended filamentary object in view of a telemeter on an aircraft includes: i) calculating terrestrial coordinates of points corresponding to telemeter echoes, and selecting candidates; ii) searching a horizontal plane for straight line segments close to vertical projections of candidate points; and iii) searching each vertical plane containing one of the straight line segments for portions of catenaries close to candidate points. In step iii), for each considered vertical plane and each triplet of candidate points close to the considered vertical plane, calculating values of three parameters of a catenary containing the projections on the vertical plane of the three points of the considered triplet, and determining presence of at least one suspended filamentary object as a function of the distribution of values of catenary parameters calculated for all of the triplets of candidate points close to the vertical plane under consideration.

Abstract: A method and apparatus is disclosed for aligning an optical instrument with respect to a celestial coordinate system, the optical instrument having a field of view and an optical instrument coordinate system, the celestial coordinate system having a plurality of objects each having celestial coordinates. The method includes the steps of receiving a plurality of captured optical instrument positions in the optical instrument coordinate system along with a plurality of associated capture times; calculating, for each associated capture time in the plurality of associated capture times, coordinates in the optical instrument coordinate system for the plurality of objects to create a plurality of calculated object positions for each associated capture time; and, determining, for each associated capture time, a match for each captured optical instrument position in the plurality of captured optical instrument positions with the plurality of calculated object positions to create a list of actual alignment objects.

Abstract: A two-dimensional position detecting device includes a movable member which relatively moves parallel to a stationary member; a light source and a two-dimensional position sensor which are fixed to one and the other of the stationary member and the movable member, respectively, the two-dimensional position sensor receiving light emitted from the light source to detect a light-receiving point on a light receiving surface of the two-dimensional position sensor; and a reducing projector optical system, positioned between the light source and the two-dimensional position sensor, for converging the light that is emitted from the light source on the light receiving surface of the two-dimensional position sensor.

Abstract: In one aspect, a system for determining the configuration of a plurality of barges in a barge complex is described. The system includes at least one target positioned on predetermined ones of the plurality of barges, an angular measurement device positioned in a line of sight with the at least one target, the angular measurement device configured to determine at least one of a horizontal and a vertical angle between the at least one target and the angular measurement device, and a ranging device coupled to the angular measurement device, the ranging device configured to determine a distance between the at least one target and the ranging device.

Abstract: Disclosed herein is a method of precisely correcting geometrically distorted satellite images. In order to correct a geometrically distorted satellite image, the position and attitude of a satellite must be accurately recognized. In this case, a correlation between the position and attitude values of the satellite exists, so accurate position and attitude values cannot be obtained. Therefore, the present invention accurately obtains position and attitude information of the satellite by separating variables having a high correlation to minimize the correlation between the position and attitude of the satellite and then calculating corresponding variables, and precisely corrects a geometrically distorted satellite image using the position and attitude information of the satellite.

Abstract: A measurement system for determining six degrees of freedom (?, ?, d, ?, ?, ?) of a reflector (2) or of an object (3) on which the reflector is arranged, comprises an angle- and distance measurement apparatus (1), e.g. a laser tracker, operating with a laser beam as a measurement beam (4). The reflector (2) is designed for a parallel reflection of the measurement beam (4) and has an apical opening or surface (6), in a manner such that a part of the measurement beam (4) directed onto the reflector (2), passes through the apical opening or surface (6), and is incident on a light-sensitive surface (7) arranged behind the reflector apex. Five degrees of freedom (?, ?, d, ?, ?) of the reflector (2) or the object (3) are computed from measurement data produced by the angle- and distance measurement apparatus (1) and by the light-sensitive surface (7).

Abstract: A wireless substrate-like sensor is provided to facilitate alignment and calibration of semiconductor processing systems. The wireless substrate-like sensor includes an optical image acquisition system that acquires one or more images of targets placed within the semiconductor processing system. Analysis of images of the targets obtained by the wireless substrate-like sensor provides position and/or orientation information in at least three degrees of freedom. An additional target is affixed to a known location within the semiconductor processing system such that imaging the reference position with the wireless substrate-like sensor allows the measurement and compensation for pick-up errors.

Abstract: An embodiment may comprise a camera based target coordinate measuring system or apparatus for use in measuring the position of objects in manner that preserves a high level of accuracy. This high level of measurement accuracy is usually only associated with more expensive laser based devices. Many different arrangements are possible. Other embodiments may comprise related methods of using a camera based target coordinate measuring method for use in measuring the position of objects. Many variations on the methods are possible.

Abstract: There is provided an optical projection system for projecting an image onto an object that is being manufactured and/or inspected. The system includes an image-projecting device, a target-locating device for determining the orientation of the image-projecting device relative to the object, and an image-rendering device for rendering the image that is projected onto the object. The target-locating device advantageously comprises a camera that locates at least one target in mechanical communication with the object to determine the orientation of the image-projecting device relative to the object. The image-rendering device advantageously stores a three-dimensional representation of the object that is converted into a two-dimensional image that is projected upon the object. The image projected upon the object is advantageously used during assembly and/or inspection of the object.

Abstract: Method for determining an axle geometry by recording and evaluating a topographical image of a face (6) of a wheel (1) fitted to an axle (2), and a sensor (10) for execution of the method. The method includes projecting light with a coding onto an area on the face (6) of the wheel (1) from a projecting direction; recording the light reflected from the area on the face (6) of the wheel (1) with an image converter (8), from a direction other than the light projecting direction; determining three-dimensional surface coordinates for the topographical image of the face (6) of the wheel (1) from the recorded light; and evaluating the topographical image in relation to a reference system.

Abstract: The invention relates to a method for determining the current position (A, B, C, D) of a head (9) of an occupant (8) in the passenger compartment (2) of a motor vehicle (1), said head moving toward an automatic dynamic disabling zone (6) in front of an airbag module (5). To this end, the invention makes use of the idea that the best position for a measurement with regard thereto is the point in space where the ideal direction of movement (14) of the head (9) is perpendicular to an ideal line of sight (17) of the camera (160. The measurement is then preferably carried out when the geometric center (10) of the head (9) crosses this point. In a preferred embodiment, the calculation of the actual movement vector of the head (9) is taken as a basis, said head being preferably perpendicular in a current line of sight (18) of the camera (16). The invention advantageously increases the potential for protecting an occupant (8) in a motor vehicle (1).

Abstract: A method of tracking a target includes: (a) receiving energy from the target at a plurality of spatial orientations; (b) processing the received energy; (c) evaluating a penalty function at each of the plurality of spatial orientations; (d) selecting a new spatial orientation based on the evaluation; and (e) orienting a receiver to receive energy from the target at the new spatial orientation.

Abstract: The invention relates to ground-based surveying on a site (2) which comprises an unstable zone (60) and at least one control point (FCP1, FCP2, FCP6, FCP7; CP1–CP3) placed outside the unstable zone, in which method at least one surveying device (TS8, TS9; ST1–ST3) is used to acquire positional data by sighting least one control point (FCP1, FCP2, FCP6, FCP7; CP1–CP3). The approach comprises: providing at least one sighting point (UP3–UP5; A–C) within the unstable zone (60; 20), using the surveying device(s) (TS8, TS9; ST1–ST3) to acquire positional data by sighting the at least one sighting point (UP3–UP5; A–C) that is located within the unstable zone (60; 20), and combining the positional data acquired from: i) the at least one control point (FCP1, FCP2, FCP6, FCP7; CP1–CP3) placed outside the unstable zone and ii) at least one sighting point (UP3–UP5; A–C) within the unstable zone (60; 20), to produce a positional reference for the surveying device(s).

Abstract: A camera configuration for a machine vision vehicle wheel alignment system which does not dispose all of the cameras on a single rigid structure, such that cameras disposed to view the left side of a vehicle are movable independently of the cameras disposed to view the right side of the vehicle, while maintaining a common reference coordinate system for determining vehicle wheel alignment angles.

Abstract: A method and apparatus for estimating a slave payload attitude is disclosed. The method includes accepting a plurality of slave payload attitude measurements, deriving a model of the relative attitude of the slave payload and a master payload attitude at least in part from the plurality of slave attitude measurements, predicting the relative attitude between the slave payload attitude and the master payload attitude using the derived model, and estimating the relative attitude between the slave payload attitude and the master payload attitude at least in part from the predicted relative attitude between the slave payload attitude and the master payload attitude. Furthermore, the absolute attitude of the slave payload is computed using the relative attitude and the master payload attitude.

Abstract: An optical position measuring arrangement that includes an incremental measuring graduation and a scanning unit, which can be moved in relation to the incremental measuring graduation along a measuring direction and by which position-dependent incremental signals are generated from scanning the measuring graduation. The scanning unit includes a transparent support substrate and two incremental signal scanning arrangements arranged in the measuring direction. Each of the incremental scanning arrangements includes a light source and several incremental signal detector elements, wherein the incremental signal scanning arrangements are arranged on a side of the support substrate facing away from the incremental measuring graduation.

Abstract: An elongate object optically determines at least one of its orientation parameters relative to a plane surface. A probe radiation beam is directed from the object at various angles ? to various locations on the plane, where the angle ? is a periodic function of time. Two angularly-selective radiation detectors oriented at fixed angles ?1 and ?2 sense scattered portions of the beam from two locations at two corresponding times. The orientation parameter is computed from a time difference ?t=t2?t1 between the two times.

Abstract: A method to determine the alignment of the transmitter and receiver fields of view of a light detection and ranging (LIDAR) system. This method can be employed to determine the far-field intensity distribution of the transmitter beam, as well as the variations in transmitted laser beam pointing as a function of time, temperature, or other environmental variables that may affect the co-alignment of the LIDAR system components. In order to achieve proper alignment of the transmitter and receiver optical systems when a LIDAR system is being used in the field, this method employs a laser-beam-position-sensing detector as an integral part of the receiver optics of the LIDAR system.

Abstract: The invention relates to connection of corresponding points measured by a computer vision system. The points are indicated by an illuminator (LASER), by means of which several points can be illuminated on the surface of the object at the same time. A camera system (CAM1, CAM2) measures the positions of the points. Using a data system (DTE), projection images are generated from a three-dimensional model of the object, in which images the positions of the points are calculated. To locate the actual point in the image perceived by the cameras, a search is performed in an area in the neighborhood of coordinates calculated from the point in the projection image. The point thus located can be connected to the perceptions of the other cameras by the aid of the projection images. After the corresponding points have been found, the actual three-dimensional coordinates of the measured point are calculated.

Abstract: A system and method for measuring orientation of an object. In the illustrative embodiment, the object is a ball (42) in a ball and socket type pointing and stabilization system. The novel system (40) includes an encoded pattern (46) applied to a portion of the surface of the ball (42), a pattern reader (44) which reads the pattern (46) off the ball (42) and outputs data representative of the pattern (46), and a processor (48) which decodes the data into orientation information. In the preferred embodiment, the pattern reader (44) is an electro-optical sensor, and the encoded pattern (46) includes a grid of dots (52) arranged in a first predetermined number of dot code cycles (58) wherein each dot code cycle (58) includes a second predetermined number of dots. The processor (48) includes an algorithm (100) which computes pitch, yaw, and roll angles from the pattern reader data.

Abstract: Provided is a hand/eye calibration method by using a projective invariant shape descriptor of a two-dimensional image. The method includes calculating a projective invariant shape descriptor of a two-dimensional image from at least two images obtained by a camera mounted on a robot hand, at a predetermined time interval, extracting corresponding points between the images by using the projective invariant shape descriptor, calculating a rotation matrix for the corresponding points from translation of the robot hand, calculating translation vector for the corresponding points from translation and rotation of the robot hand, and finding a relation between the robot hand and the camera based on the rotation matrix and the translation vector.

Abstract: An attitude determination system and method is provided that includes at least two sensor sets. Each sensor set is configured to detect electromagnetic radiation, such as light of a known frequency. Specifically, each sensor set is configured to detect electromagnetic radiation from a one of a plurality of point sources, where each of the plurality of point sources emits electromagnetic radiation of a different frequency. Each sensor set includes at least three sensors, with each of the three sensors having a different orientation. The three sensors in the sensor set are used to determine a relative orientation of the vehicle with respect to one of the point sources. The at least two sensor sets in the system determine the relative orientation with respect to at least two point sources. By placing the sensors on a vehicle and knowing the direction to the point sources in a reference frame coordinate system, the orientation of the vehicle with respect to this reference frame can be estimated.

Abstract: A method of laser scanning a perimeter zone of a target site for the detection of potential threats comprises: scanning a pulsed laser beam across the perimeter zone; receiving echoes from the pulsed laser beam during the perimeter zone scan; deriving range data corresponding to the received echoes; determining position data of the received echoes in the perimeter zone; forming a scene image of a scan of the perimeter zone based on the range and position data of the received echoes thereof; repeating the steps of scanning, receiving, deriving, determining and forming for a plurality of perimeter zone scans to form scene images of each scan of the plurality; and comparing scene images of the plurality to detect a potential threat in the perimeter zone.

Abstract: Improved point source electromagnetic radiation emitters including a dispersing element that radiates electromagnetic radiation over a vary wide conical angle of approaching about 180°. This light dispersing element can be in any one or more of several illustrated forms such as a light diffusing spherical or hemispherical element, a planar diffusing plate, a tapered light guide, a piano-concave lens, a convex mirror, a light pipe with a large numerical aperture, or the like. The emitter of this invention may be fixed to an object and tracked in a 3-dimensional volume by a system using electro-optical position sensors in order to determine the spatial location of the emitters and therefore to determine, by geometry, the position or orientation of the object. The electromagnetic radiation generator is preferably disposed remote from the emitter and is electrically and magnetically isolated from the emitter. A common optical fiber provides transmission of the radiation from the generator to the emitter.