Abstract: Apparatuses and methods train a model and then use the trained model to determine a global three dimensional (3D) position and orientation of a fiduciary marker. In the context of an apparatus for training a model, a wider field-of-view sensor is configured to acquire a static image of a space in which the fiducial marker is disposed and a narrower field-of-view sensor is configured to acquire a plurality of images of at least a portion of the fiducial marker. The apparatus also includes a pan-tilt unit configured to controllably alter pan and tilt angles of the narrower field-of-view sensor during image acquisition. The apparatus further includes 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.

Abstract: A camera vision system for creating 3D reconstructions of objects may include a camera, a distance sensor having a fixed spatial relationship with the camera, and a system controller. The system controller receives distance sensor signals from the distance sensor indicating a sensor-to-object distance, determines a camera-to-object distance and a corresponding camera focus state based on the sensor-to-object distance, and transmits camera focus state control signals to cause the camera to adjust to the camera focus state. The system controller retrieves camera intrinsic parameter values for the camera focus state, transmits image capture control signals to cause the camera to capture an object image of the object, receives object image data from the camera for the captured object image, and stores the object image data and the camera intrinsic parameter values in an image database for use in the 3D reconstruction.

Abstract: A camera vision system for creating 3D reconstructions of objects may include a camera, a distance sensor having a fixed spatial relationship with the camera, and a system controller. The system controller receives distance sensor signals from the distance sensor indicating a sensor-to-object distance, determines a camera-to-object distance and a corresponding camera focus state based on the sensor-to-object distance, and transmits camera focus state control signals to cause the camera to adjust to the camera focus state. The system controller retrieves camera intrinsic parameter values for the camera focus state, transmits image capture control signals to cause the camera to capture an object image of the object, receives object image data from the camera for the captured object image, and stores the object image data and the camera intrinsic parameter values in an image database for use in the 3D reconstruction.