| US 7,456,977 B2 | ||
| Wireless substrate-like sensor | ||
| Craig C. Ramsey, West Linn, Oreg. (US); Jeffrey K. Lassahn, Portland, Oreg. (US); Greg Huntzinger, West Linn, Oreg. (US); and DelRae H. Gardner, Tualatin, Oreg. (US) | ||
| Assigned to CyberOptics Semiconductor, Inc., Beaverton, Oreg. (US) | ||
| Filed on Mar. 15, 2006, as Appl. No. 11/375,925. | ||
| Application 11/375925 is a division of application No. 10/356684, filed on Jan. 31, 2003, granted, now 7,289,230. | ||
| Claims priority of provisional application 60/354551, filed on Feb. 06, 2002. | ||
| Prior Publication US 2006/0171561 A1, Aug. 03, 2006 | ||
| Int. Cl. G01B 11/14 (2006.01); H04N 7/18 (2006.01); H04N 9/47 (2006.01); G06K 9/00 (2006.01); G05B 19/18 (2006.01); G05B 15/00 (2006.01); G05B 19/00 (2006.01); G01C 9/00 (2006.01); G01C 17/00 (2006.01); G01C 19/00 (2006.01); G06F 15/00 (2006.01) | ||
| U.S. Cl. 356—620 [356/614; 348/94; 348/95; 382/153; 382/154; 700/56; 700/259; 702/150; 702/152; 702/153] | 20 Claims |
| 1. A method for determining position and orientation of a flat target in three dimensions, the method comprising:
providing at least four reference target indicia on a reference target and fixing the reference target's position;
removably coupling an image acquisition system to a robot such that the image acquisition system is movable by the robot;
digitizing an image of the reference target with the image acquisition system;
identifying the at least four reference target indicia in the image of the reference target;
providing at least four station target indicia on a station target;
digitizing an image of the station target with the image acquisition system;
identifying the at least four station target indicia in the image of the station target;
calculating the relative position and orientation between the station target and the robot based upon identification of the
at least four reference target indicia and the at least four station target indicia.
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