Method for measuring three orientational degrees of freedom of a cube-corner retroreflector

Patent metadata

Field	Value
Publication number	US-9454818-B2
Application number	US-201514750267-A
Country	US
Kind code	B2
Filing date	Jun 25, 2015
Priority date	Jun 27, 2014
Publication date	Sep 27, 2016
Grant date	Sep 27, 2016

Abstract

A method for determining three orientational degrees of freedom of a cube-corner retroreflector by obtaining with a photosensitive array an image of a three straight marks on the retroreflector and, with a programmable control device, taking a two-dimensional transform of the image and determining the three orientational degrees of freedom.

First claim

What is claimed is:

1. A method for determining three orientational degrees of freedom of a retroreflector comprising:
obtaining on a two-dimensional photosensitive array an image of a first straight mark, a second straight mark, and a third straight mark on the retroreflector that has three mutually perpendicular reflecting surfaces;
receiving by a programmable control device a two-dimensional digital array representation of the image;
performing with the programmable control device a two-dimensional transform of the two-dimensional digital array to obtain coefficients of sinusoidal basis functions as a first transformed array;
determining by the programmable control device the three orientational degrees of freedom based at least in part on the first transformed array; and
storing the determined three orientational degrees of freedom.

2. The method of claim 1 wherein, in the step of obtaining on a two-dimensional photosensitive array an image, the retroreflector is a glass prism that includes a front face.

3. The method of claim 2 wherein, in the step of obtaining on a two-dimensional photosensitive array an image, at least one of the first straight mark, the second straight mark, and the third straight mark is on the front face.

4. The method of claim 1 wherein, in the step of obtaining on a two-dimensional photosensitive array an image, at least one of the first straight mark, the second straight mark, and the third straight mark is on a line of intersection between two of the three mutually perpendicular reflecting surfaces.

5. The method of claim 1 wherein the step of obtaining on a two-dimensional photosensitive array an image further includes illuminating the retroreflector with a source of illumination and forming the image with a lens.

6. The method of claim 1 wherein the step of determining by the programmable control device the three orientational degrees of freedom further includes determining angular content from a power spectrum of the first transformed array.

7. The method of claim 6 wherein the step of determining by the programmable control device the three orientational degrees of freedom further includes extracting a collection of local maxima from the angular content.

8. The method of claim 1 wherein, in the step of receiving by a programmable control device a two-dimensional digital array representation of the image, the programmable control device includes a field programmable gate array (FPGA).

9. A non-transitory machine readable storage medium including machine readable instruction which, when performed by one or more processors, causes the one or more processors to perform a method comprising:
obtaining on a two-dimensional photosensitive array an image of a retroreflector having three mutually perpendicular reflecting surfaces, the image including a first straight mark, a second straight mark, and a third straight mark;
receiving by the one or more processors a two-dimensional digital array representation of the image;
performing with the one or more processors a two-dimensional transform of the two-dimensional digital array to obtain coefficients of sinusoidal basis functions as a first transformed array;
determining by the one or more processors three orientational degrees of freedom of the retroreflector based at least in part on the first transformed array; and
storing the determined three orientational degrees of freedom.

10. A system for determining three orientational degrees of freedom of a retroreflector comprising:
the retroreflector having three mutually perpendicular reflecting surfaces, a first straight mark, a second straight mark, and a third straight mark;
a two-dimensional photosensitive array;
one or more processors; and
a non-transitory machine readable storage medium including machine readable instruction which, when performed by the one or more processors, causes the one or more processors to perform a method comprising:
obtaining on the two-dimensional photosensitive array an image of the first straight mark, the second straight mark, and the third straight mark;
receiving by the one or more processors a two-dimensional digital array representation of the image;
performing with the one or more processors a two-dimensional transform of the two-dimensional digital array to obtain coefficients of sinusoidal basis functions as a first transformed array;
determining by the one or more processors three orientational degrees of freedom based at least in part on the first transformed array; and
storing the determined three orientational degrees of freedom.

11. The system of claim 10 , wherein the retroreflector is a glass prism that includes a front face.

12. The system of claim 11 , wherein at least one of the first straight mark, the second straight mark, and the third straight mark is on the front face.

13. The system of claim 10 , wherein at least one of the first straight mark, the second straight mark, and the third straight mark is on a line of intersection between two of the three mutually perpendicular reflecting surfaces.

14. The system of claim 10 , further comprising a source of illumination and a lens configured to form the image.

15. The system of claim 10 , wherein the one or more processors includes a field programmable gate array (FPGA).

Assignees

• Faro Tech Inc

Inventors

• Cramer Peter G

Classifications

• G01S5/163 Primary

  Determination of attitude (using inertial means G01C9/00; control of attitude G05D1/49) · CPC title

• G01B11/005

  coordinate measuring machines · CPC title

• G06T7/0042 Primary

  Physics · mapped topic

• G06K9/46

  Physics · mapped topic

• G02B5/122

  cube corner, trihedral or triple reflector type · CPC title