Method and device for determining position of a target

A method for training a classifier for determining a position of a target, the method comprising:

• (i) placing the target at a first known position;
• (ii) sequentially directing each of a plurality of lighting patterns at the target, each lighting pattern comprising a plurality of illuminations from respective ones of a plurality of emitters, wherein each lighting pattern differs from other lighting patterns by at least an intensity of one of the illuminations and wherein the intensity of the illumination from at least one emitter is variable between more than two levels;
• (iii) receiving, at a plurality of sensors, reflected illumination of each lighting pattern as reflected from the target;
• (iv) moving the target to a subsequent known position;
• (v) repeating (ii)-(iv) for a predetermined number of subsequent known positions;
• and
• (vi) training the classifier to associate the reflected illuminations to positions of the target using the reflected illuminations and the known positions.

A device for determining a position of a target comprising:

• a plurality of emitters cooperatively configured to sequentially direct each of a plurality of lighting patterns at the target, each lighting pattern comprising a plurality of illuminations from respective ones of the plurality of emitters;
• a plurality of sensors configured to receive reflected illumination of each lighting pattern as reflected from the target;
• a processor configured to determine the position of the target using the reflected illuminations of the lighting patterns and a first classifier previously trained to associate the reflected illuminations to a position of the target;
• wherein each lighting pattern differs from other lighting patterns by at least an intensity of one of the illuminations;
• and
• wherein at least one emitter is configured to provide an illumination with an intensity variable between more than two levels.