Paul J. Keall,Joubin Nasehi Tehrani,Ricky OBrien,Per Rugaard Poulsen
申请号：
US14102201
公开号：
US20140241497A1
申请日:
2013.12.10
申请国别(地区):
US
年份:
2014
代理人:
摘要：
A method of real-time estimation of target rotation and translation for 6 degrees of freedom using a single planar 2-dimensional imager and an algorithm, such as the iterative closest point (ICP) algorithm, that includes creating pairing, using a nearest neighbor algorithm, between a set of target points of at least three fiducial markers and a set of source points of the markers using K nearest neighbors, iteratively executing estimation of a rotation parameter R and a translation parameter T of the markers using a cost function such as root mean square error, terminating the estimation of R and T if the change in a mean distance between the set of target points of the markers and the set of source points of the markers is below a threshold or at a maximum iteration number, transforming the set of target points of the markers using estimated parameters, and re-associating a new set of the target points of the markers.
