METHOD FOR THE CONTACTLESS DETERMINATION OF THE DEGREES OF FREEDOM OF A BODY

• Main Author: LINK, Norbert
• Format: Patent
• Language: English; French; German
• Published: 21.10.2020
• Subjects: CALCULATING; COMPUTING; COUNTING; HANDLING RECORD CARRIERS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS

The present invention relates to a method for the contactless determination of the internal and external degrees of freedom of a body in three-dimensional space. The internal degrees of freedom of the body are characterized by the positions of characteristic object points relative to one another or to a prominent object point. Alternatively, the internal degrees of freedom can be described by specifying the parameter values of a transformation which a body describes as an manifestation of a versatile object model. The values for the transformation parameters are estimated with the aid of 3D coordinates of characteristic objects of the body determined according to the invention, with the creation of a radiometric image and a depth image. The external degrees of freedom of the body describe the location and orientation thereof as a totality and are defined by the three-dimensional coordinates of a point of origin assigned to the body, such as the centre of gravity, and by the three-dimensional rotation of a coordinate system attached thereto in relation to an external coordinate system. The point of origin and the coordinate system attached thereto form the object coordinate system, the translation and rotation of which in relation to an external coordinate system represent the external degrees of freedom of the object.