Abstract: The present disclosure is directed to a method for determining a current position and/or orientation of a laser radar relative to an object by a computer. A camera system is attached to the laser radar. In the method, the position of the camera system is determined by obtaining one or more images of the object. At least three reference targets having a fixed spatial relationship to the target are observed in the one or more images. The relative spatial relationship and/or the position of the at least three reference targets on the object to each other is obtained from a storage. The position of the reference targets relative to the camera is calculated by using the relative spatial relationship of the at least three reference targets to each other and the observed spatial directions to said reference targets defined relative to a camera fixed coordinate system.

Abstract: A system for precision guidance of surgical procedures on a patient is disclosed. Aspects of the system may include: a three-dimensional digital representation of a pre-procedural geometry of a relevant part of the patient, a three-dimensional digital representation of an intended post-procedural geometry of the relevant part of the patient including any implant or other structures intended to be attached to the patient, and a movable electro-optical (EO) camera mounted in a known position and orientation relative to a surgeon, such as a head mount.

Abstract: A weapon platform for accurately locating and/or tracking enemy targets is described. The weapon platform may include an electro-optical sensor unit comprising one or more sensors, an electro-optical camera, and a plurality of local targets located within the weapon system. The camera may observe the local targets and output information regarding the spatial relationship between the sensor unit and a weapon connected to the weapon platform. The local targets may be connected to the weapon, to the weapon platform, and/or to the sensor unit. Using the information regarding the spatial relationship, the weapon may be steered toward enemy targets that are located using the sensor unit.

Abstract: A system for precision guidance of surgical procedures on a patient is disclosed. Aspects of the system may include: a three-dimensional digital representation of a pre-procedural geometry of a relevant part of the patient, a three-dimensional digital representation of an intended post-procedural geometry of the relevant part of the patient including any implant or other structures intended to be attached to the patient, and a movable electro-optical (EO) camera mounted in a known position and orientation relative to a surgeon, such as a head mount.

Abstract: A system for measurement of spatial coordinates and/or orientation of a probe, comprising a first spatial direction sensor associated with a pattern of targets with known positions relative to each other and to the first spatial direction sensor, a second spatial direction sensor, and processing means for the computation of the orientation and/or spatial coordinates of the pattern of targets relative to the second spatial direction sensor based on the known positions of the targets relative to each other and a determination of the spatial directions of the targets with respect to the second spatial direction sensor, wherein at least three of the targets are in the field of view (FOV2) of the second spatial direction sensor irrespective of the orientation of the pattern of targets and wherein the first spatial direction sensor determines the spatial coordinates and/or orientation of the probe.

Abstract: A system for measurement of spatial coordinates and/or orientation of a probe, comprising a first spatial direction sensor associated with a pattern of targets with known positions relative to each other and to the first spatial direction sensor, a second spatial direction sensor, and processing means for the computation of the orientation and/or spatial coordinates of the pattern of targets relative to the second spatial direction sensor based on the known positions of the targets relative to each other and a determination of the spatial directions of the targets with respect to the second spatial direction sensor, wherein at least three of the targets are in the field of view (FOV2) of the second spatial direction sensor irrespective of the orientation of the pattern of targets and wherein the first spatial direction sensor determines the spatial coordinates and/or orientation of the probe.

Abstract: A system for ensuring precision in medical treatment of a patient comprising one or more clusters of targets attached to a patient, a strapping mechanism or a carrier defining a patient-fixed coordinate system. The system also includes a first electro-optical measurement system for observing the one or more clusters of targets and local reference markers of an imaging system to determine the relationship between the patient-fixed coordinate system and a coordinate system of the imaging system, whereby a location to be treated inside the patient can be calculated in the patient-fixed coordinate system. The system further includes a second electro-optical measurement system for observing the one or more clusters of targets and local reference markers of a treatment system, whereby the location to be treated inside the patient can be calculated in a coordinate system of a treatment system.

Abstract: A system for measurement of spatial coordinates and/or orientation of a probe, comprising a first spatial direction sensor associated with a pattern of targets with known positions relative to each other and to the first spatial direction sensor, a second spatial direction sensor, and processing means for the computation of the orientation and/or spatial coordinates of the pattern of targets relative to the second spatial direction sensor based on the known positions of the targets relative to each other and a determination of the spatial directions of the targets with respect to the second spatial direction sensor, wherein at least three of the targets are in the field of view (FOV2) of the second spatial direction sensor irrespective of the orientation of the pattern of targets and wherein the first spatial direction sensor determines the spatial coordinates and/or orientation of the probe.

Abstract: A system for measurement of spatial coordinates comprising a probing tool and a main measuring unit, wherein said probing tool comprises a reflective object element, observation mechanism located in a known position and orientation relative to said reflective object element and capable of observing targets; and wherein said main measuring unit comprises a distance measuring device capable of measuring a distance from said device to said reflective object element; a mechanism constructed and adapted to direct a measuring beam from said distance measuring device to said reflective object element; a direction determining mechanism constructed and adapted to determine a direction of a measuring beam; at least two targets located in known positions relative to said distance measuring device, whereby the orientation of said reflective object element can be determined from observations of said targets by said observation mechanism.

Abstract: A system for measurement of spatial coordinates comprising a probing tool and a main measuring unit, wherein said probing tool comprises a reflective object element, observation mechanism located in a known position and orientation relative to said reflective object element and capable of observing targets; and wherein said main measuring unit comprises a distance measuring device capable of measuring a distance from said device to said reflective object element; a mechanism constructed and adapted to direct a measuring beam from said distance measuring device to said reflective object element; a direction determining mechanism constructed and adapted to determine a direction of a measuring beam; at least two targets located in known positions relative to said distance measuring device, whereby the orientation of said reflective object element can be determined from observations of said targets by said observation mechanism.

Abstract: The invention relates to a system for determining spatial coordinates of points, wherein the system involves a fixed array of a network (2) of control points (3), and a manually or mechanically manipulatable measuring probe (1; 1′) containing at least one camera (9′, 9″, 9′″), and wherein the measuring probe (1; 1′) is designed for physical contact with a measuring point on an object (4) which is to be measured via a fixedly mounted contact unit (14) projecting from the measuring probe, which has a known, defined position in the coordinate system of the measuring probe; and a system unit (5) which computes the position of the contact unit (14) relative to a coordinate system defined by said control points (3) on the basis of the measuring probe's (1; 1′) image of the control points (3), and the known position of the contact unit (14) in the coordinate system of the measuring probe (1; 1′).

Abstract: A system for point-by-point measurement of spatial coordinates comprising: one or more opto-electronic cameras (7, 8) arranged for measuring spatial direction to point-shaped light sources; one or more rangefinders (11) for measuring distance and optionally direction to light-reflecting targets (19, 28); a touch tool (18) having a minimum of three point-shaped light giving means (21-25) in known local coordinates relative to a local tool-fixed coordinate system, one or more light-reflecting points or targets (28) for the laser rangefinder, and having a contact point (30) in known position relative to said local coordinate system; and data processor (2) designed to compute the spatial position and orientation of said touch tool (18) relative to said camera (7, 8) and rangefinder (11) on the basis of knowledge of the position of said light giving means (21-25) relative to the tool's contact point (30), the measured directions from the cameras (7, 8) to the individual light giving means (21-25), and measured dis

Abstract: A system for point-by-point measurement of spatial coordinates comprising: one or more opto-electronic cameras (7, 8) arranged for measuring spatial direction to point-shaped light sources; one or more rangefinders (11) for measuring distance and optionally direction to light-reflecting targets (19, 28); a touch tool (18) having a minimum of three point-shaped light giving means (21-25) in known local coordinates relative to a local tool-fixed coordinate system, one or more light-reflecting points or targets (28) for the laser rangefinder, and having a contact point (30) in known position relative to said local coordinate system; and data processor (2) designed to compute the spatial position and orientation of said touch tool (18) relative to said camera (7, 8) and rangefinder (11) on the basis of knowledge of the position of said light giving means (21-25) relative to the tool's contact point (30), the measured directions from the cameras (7, 8) to the individual light giving means (21-25), and measured dis

Abstract: A method and system for determining the position and/or orientation of a number of objects relative to each other. At least two cameras having electro-optical sensors are provided. A network of help reference points is established. The positions of some points in the network relative to each other can be known or they are determined using at least one of the cameras positioned in multiple arbitrary locations. The positions of some of the objects relative to each other, are determined based on the determined positions of some of the points in the network. The position of at least one of the objects is determined by holding a probing tool in contact with a point on the object, and obtaining measurement data from the probing tool using at least two of the cameras.

Abstract: A system for point by point measurement of spatial coordinates, in which a touch probe including three point-sized light sources at known local coordinates relative to a local probe fixed coordinate system and with a touch point at known location relative to the local coordinate system, is used such that the touch probe touches the point to be measured. A single opto-electronic angle sensor for measurement of spatial direction towards point sized light sources is set up such that its field of view/work area covers the essential parts of the object to be measured, and such that the light sources of the touch probe are seen from the angle sensor for all the relevant measurement points. The spatial directions for all of the light sources of the touch probe are registered simultaneously.

Abstract: A camera comprising a lens forms images onto a two-dimensional array of photo-sensitive elements, e.g. a CCD or CID sensor. The lens has a well defined center of rotational symmetry, giving an unambiguous definition of spatial directions. Such cameras form angle sensors to measure spatial directions towards light point sources or reflecting points illuminated by active light sources. The angle sensor is accurately calibrated using a high precision angle reference. The angle sensors are applied in various system configurations for spatial position and geometry measurements, including a system configured for simultaneous measurements of the three-dimensional coordinates of a plurality of points on a surface. That system comprises a subsystem for projection of multiple point sized light spots onto a surface, and a minimum of two angle sensors.