Method and System for Detecting Pose of Marker

A method to be implemented by a pose detecting system comprising:

• a marker including a lens area constituted of a microlens array and a mark array having a plurality of marks arrayed with a pitch similar to that between a plurality of lenses constituting the microlens array in such a manner as to produce a moiré pattern (an interference pattern), and four reference points;
• a camera picking up the marker;
• and a computer receiving a marker image including an image of the marker picked up by the camera, the method comprising the steps of:
• the computer determining the pose of the marker based on the four reference points included in the marker image;
• the computer analyzing the moiré pattern so as to calculate an angle formed by the marker and a straight line connecting the center of an integrated mark that emerges at the lens area as the moiré pattern and is similar in shape to each of the plurality of marks to a viewpoint at the marker;
• and
• the computer correcting the pose of the marker with the calculated angle.

A method to be implemented by a pointer system comprising:

• a pointer with a marker including a lens area constituted of a microlens array and a mark array having a plurality of marks arrayed with a pitch similar to that between a plurality of lenses constituting the microlens array in such a manner as to produce a moiré pattern (an interference pattern), and four reference points;
• a camera picking up the marker;
• one or more computers receiving a marker image including an image of the marker picked up by the camera;
• and a screen pointed by the pointer, the method comprising the steps of:
• the one or more computers determining the pose of the marker based on the four reference points included in the marker image;
• the one or more computers analyzing the moiré pattern so as to calculate an angle formed by the marker and a straight line connecting the center of an integrated mark that emerges at the lens area as the moiré pattern and is similar in shape to each of the plurality of marks to a viewpoint at the marker;
• the one or more computers correcting the pose of the marker with the calculated angle;
• the one or more computers determining an intersection between the normal of the marker and the screen based on the corrected pose of the marker;
• and
• the one or more computers displaying the intersection on the screen.

A computer-readable non-transitory storage medium storing therein a program enabling a computer system to execute pose detecting processing, the computer system comprising:

• a marker including a lens area constituted of a microlens array and a mark array having a plurality of marks arrayed with a pitch similar to that between a plurality of lenses constituting the microlens array in such a manner as to produce a moiré pattern (an interference pattern), and four reference points;
• a camera picking up the marker;
• and a computer receiving a marker image including an image of the marker picked up by the camera, the program enabling the computer to:
• determine the pose of the marker based on the four reference points included in the marker image;
• analyze the moiré pattern so as to calculate an angle formed by the marker and a straight line connecting the center of an integrated mark that emerges at the lens area as the moiré pattern and is similar in shape to each of the plurality of marks to a viewpoint at the marker;
• and
• correct the pose of the marker with the calculated angle.

A computer-readable non-transitory storage medium storing therein a program enabling a computer system to execute virtual laser pointing processing, the computer system comprising:

• a pointer with a marker including a lens area constituted of a microlens array and a mark array having a plurality of marks arrayed with a pitch similar to that between a plurality of lenses constituting the microlens array in such a manner as to produce a moirépattern (an interference pattern), and four reference points;
• a camera picking up the marker;
• one or more computers receiving a marker image including an image of the marker picked up by the camera;
• and a screen pointed by the pointer, the program enabling the one or more computers to:
• determine the pose of the marker based on the four reference points included in the marker image;
• analyze the moiré pattern so as to calculate an angle formed by the marker and a straight line connecting the center of an integrated mark that emerges at the lens area as the moiré pattern and is similar in shape to each of the plurality of marks to a viewpoint at the marker;
• correct the pose of the marker with the calculated angle;
• determine an intersection between the normal of the marker and the screen based on the corrected pose of the marker;
• and
• display the intersection on the screen.