Motion tracking system for real time adaptive imaging and spectroscopy

An object orientation marker for use in a motion tracking system for tracking motion of an object to which the object orientation marker is coupled, the object orientation marker comprising:

• an at least partially optically transparent substrate;
• and
• artwork applied to the substrate;
• wherein the artwork comprises one or more landmarks;
• wherein the artwork further comprises gratings configured to create patterns sensitive to changes in orientation;
• wherein the one or more landmarks and the gratings are positioned to enable, using a single image of the object orientation marker, a determination of an orientation of the object orientation marker in six degrees of freedom.

A method of estimating a pose of an object to which an object orientation marker comprising one or more landmarks and one or more regions comprising moiré patterns is affixed, the method comprising:

• imaging by an electronic detector the object orientation marker to generate a digital image of the object orientation marker;
• determining by a computer system locations of the one or more landmarks of the object orientation marker by analyzing the digital image;
• calculating by the computer system a first estimate of the pose based on the determined locations of the one or more landmarks;
• determining by the computer system, using the first estimate of the pose, areas of the digital image corresponding to the one or more regions of the object orientation marker comprising moiré patterns;
• estimating by the computer system a phase and a frequency of each moiré pattern within the one or more regions of the object orientation marker;
• and
• calculating by the computer system a second estimate of the pose based on both the locations of the one or more landmarks and the phase and frequency estimates of the moiré patterns;
• wherein the computer system comprises a computer processor and an electronic memory.