Method for determining a current position and/or orientation of a laser radar relative to an object to be measured

A non-transitory computer-readable medium comprising instructions which, when executed by a processor, cause the processor to perform operations for determining a current position and orientation of an object relatively to a laser radar and for determining a measurement of the object, wherein a camera system is attached to the laser radar, the operations comprising:

• determining the position and orientation of the object relatively to the camera system by:
• obtaining one or more images of the object of the camera system,
• observing at least three reference targets having a predetermined and fixed spatial relationship to the object in the one or more images,
• obtaining a relative spatial relationship of the at least three reference targets on the object to each other from a storage, and
• calculating the position and orientation of the three reference targets relatively to the camera system by using the relative spatial relationship of the at least three reference targets to each other and the detected at least three reference targets;
• obtaining a spatial relationship between the camera system and the laser radar from the storage;
• calculating the spatial position and orientation of the object relatively to the laser radar by using the position and orientation of the object relatively to the camera system and the spatial relationship between the camera system and the laser radar;
• and
• measuring a physical element of the object with the laser radar, wherein the measured physical element is distinct from a predefined reflective object and the at least three reference targets.

A system comprising:

• a processor;
• a non-transitory computer-readable medium comprising instructions that, when executed by the processor, cause the processor to perform operations for determining a current position and orientation of an object relatively to a laser radar and for determining a measurement of the object, wherein a camera system is attached to the laser radar, the operations comprising:
• determining the position and orientation of the object relatively to the camera system by:
• obtaining one or more images of the object of the camera system,
• observing at least three reference targets having a predetermined and fixed spatial relationship to the object in the one or more images,
• obtaining a relative spatial relationship of the at least three reference targets on the object to each other from a storage, and
• calculating the position and orientation of the three reference targets relatively to the camera system by using the relative spatial relationship of the at least three reference targets to each other and the detected at least three reference targets;
• obtaining a spatial relationship between the camera system and the laser radar from the storage;
• calculating the spatial position and orientation of the object relatively to the laser radar by using the position and orientation of the object relatively to the camera system and the spatial relationship between the camera system and the laser radar;
• and
• measuring a physical element of the object with the laser radar, wherein the measured physical element is distinct from a predefined reflective object and the at least three reference targets.