Three-dimensional projector and method
AssigneeVirtek Vision Corporation
InventorsArkady Savikovsky, Joel Stave, Ilya Alexeev, Matthew T. Armstrong, Robert E. Bridges
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Abstract
A method includes attaching a 3D projector to a stand, the 3D projector having a projecting mechanism and a gimbal mechanism; determining a six degree-of-freedom pose of the 3D projector based at least in part on steering at least one of the projecting mechanism and the gimbal mechanism to place the beam of light on each of a plurality of anchor targets in each of a first instance and a second instance, each anchor target having an anchor point with 3D coordinates known in a CAD model, each projection angle and gimbal angle to each of the plurality of anchor targets being different in first instance and the second instance.
Claims20
A method comprising:
- affixing a three-dimensional (3D) projector to a stand, the 3D projector having a projecting mechanism and a gimbal mechanism, the projecting mechanism being operable to steer a beam of light to a projection angle relative to the gimbal mechanism, the gimbal mechanism being operable to steer the 3D projector to a gimbal angle relative to the stand;
- determining a six degree-of-freedom (six-DOF) pose of the 3D projector based at least in part on steering at least one of the projecting mechanism and the gimbal mechanism to place the beam of light on each of a plurality of anchor targets in each of a first instance and a second instance, each of the plurality of anchor targets having a respective one of a plurality of anchor points with 3D coordinates known in a computer-aided design (CAD) model, each projection angle and gimbal angle to each of the plurality of anchor targets being different in the first instance and the second instance, wherein at least one of:
- the projection angle in the second instance comprises a negative of the projection angle in the first instance, and the gimbal angle in the second instance comprises a negative of the gimbal angle in the first instance;
- and
- storing the determined six-DOF pose of the 3D projector.
A system comprising:
- a stand;
- a three-dimensional (3D) projector affixed to the stand, the 3D projector having a projecting mechanism and a gimbal mechanism, the projecting mechanism being operable to steer a beam of light to a projection angle relative to the gimbal mechanism, the gimbal mechanism being operable to steer the 3D projector to a gimbal angle relative to the stand;
- and
- a processor configured to:
- determine a six degree-of-freedom (six-DOF) pose of the 3D projector based at least in part on steering at least one of the projecting mechanism and the gimbal mechanism to place the beam of light on each of a plurality of anchor targets in each of a first instance and a second instance, each of the plurality of anchor targets having a respective one of a plurality of anchor points with 3D coordinates known in a computer-aided design (CAD) model, each projection angle and gimbal angle to each of the plurality of anchor targets being different in the first instance and the second instance, wherein at least one of:
- the projection angle in the second instance comprises a negative of the projection angle in the first instance, and the gimbal angle in the second instance comprises a negative of the gimbal angle in the first instance;
- and
- store the determined six-DOF pose of the 3D projector.
Dependencies are inferred from the claim text.