Method and apparatus for orientating a camera

A method for recovering orientation of apparatus with respect to a coordinate system, said orientation corresponding to a set of first, second, and third orientation vectors, comprising the steps of:

• projecting onto an image plane respective first, second, and third images of first, second, and third gratings respectively formed on first, second, and third mutually orthogonal supporting planes and having respective first, second, and third wavelength vectors, said supporting planes being aligned with respective ones of said first, second, and third orientation vectors such that said wavelength vectors are in predetermined relationship with said orientation vectors, said first, second, and third images being associated with respective first, second, and third image wavelength vectors;
• measuring said image wavelength vectors;
• deriving therefrom said wavelength vectors;
• and
• thereby deriving said orientation vectors.

A method for recovering orientation of a camera with respect to a coordinate system, said orientation corresponding to a set of first, second, and third orientation vectors, comprising the steps of:

• projecting onto an image plane respective first, second, and third images of first, second, and third gratings respectively formed on first, second, and third mutually orthogonal supporting planes and having respective first, second, and third wavelength vectors, said supporting planes being aligned with respective ones of said first, second, and third orientation vectors such that said wavelength vectors are in predetermined relationship with said orientation vectors, said first, second, and third images being associated with respective first, second, and third image wavelength vectors;
• measuring said image wavelength vectors;
• deriving therefrom said wavelength vectors;
• and
• thereby deriving said orientation vectors.

Apparatus for recovering orientation of a camera with respect to a coordinate system, said orientation corresponding to a set of first, second, and third orientation vectors, comprising:

• means for projecting onto an image plane respective first, second, and third images of first, second, and third gratings respectively formed on first, second, and third mutually orthogonal supporting planes and having respective first, second, and third wavelength vectors, said supporting planes being aligned with respective ones of said first, second, and third orientation vectors such that said wavelength vectors are in predetermined relationship with said orientation vectors, said first, second, and third images being associated with respective first, second, and third image wavelength vectors;
• means for measuring said image wavelength vectors;
• and
• means for deriving therefrom said wavelength vectors so as to thereby derive said orientation vectors.

Apparatus for orientating a camera in a desired orientation with respect to a coordinate system, said desired orientation corresponding to a set of first, second, and third orientation vectors, comprising:

• means for projecting onto an image plane respective first, second, and third images of first, second, and third gratings respectively formed on first, second, and third mutually orthogonal supporting planes and having respective first, second, and third wavelength vectors, said supporting planes being aligned with respective ones of said first, second, and third orientation vectors such that said wavelength vectors are in predetermined relationship with said orientation vectors, said first, second, and third images being associated with respective first, second, and third image wavelength vectors;
• means for measuring said image wavelength vectors;
• means for deriving therefrom said wavelength vectors so as to thereby derive said orientation vectors;
• and
• means for utilizing said orientation vectors derived by said means for deriving for orienting said camera in accordance therewith.