Eberhard Karls Universitaet Tuebingen

Andreas Masselli

Karl Engelbert Wenzel

Andreas Zell

A method for determining the relative position of an object in an area in six spatial degrees of freedom is provided. A marker pattern with at least three markers is applied on the object, and an optical detecting device is provided with a two-dimensional sensor surface. The object is moved in the detection region of the optical detecting device such that the marker pattern can be detected by the detecting device, images of the markers are projected onto image positions on the sensor surface, and the image coordinates of the markers are ascertained. The relative position of the marker pattern is determined by analyzing the image coordinates. The position of an invariant point is ascertained on a reference circle on a reference plane, and describes a unique relationship between a coordinate system assigned to the marker pattern and a coordinate system assigned to the detecting device.

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Tuebingen, Germany

Andreas Masselli