A system (100) for tracking the position and orientation (i.e., the pose) of a medical imaging device (210) is described. The system determines in real time the pose of an imaging medical device based on a combination of image data and sensor data obtained from an imaging medical device and tracking sensors (210) associated with the device. Pose is determined based on a calculated tracking pose change and a calculated image pose change and a determined reliability of the calculated tracking pose change and the calculated image pose change.

Embodiments are provided that include receiving sensor data from a sensor positioned at a plurality of positions in an environment. The environment includes a plurality of landmarks. The embodiments also include determining, based on the sensor data, a subset of the plurality of landmarks detected at each of the plurality of positions. The embodiments further include determining, based on the subset of the plurality of landmarks detected at each of the plurality of positions, a detection frequency of each landmark. The embodiments additionally include determining, based on the determined detection frequency of each landmark, a localization viability metric associated with each landmark. The embodiments still further include providing for display, via a user interface, a map of the environment. The map includes an indication of the localization viability metric associated with each landmark.

Various examples are directed to systems and methods for determining a pose of a vehicle. A first localizer may generate a first pose estimate for the vehicle based at least in part on a comparison of first remote sensor data to a first reference data. A second localizer may generate a second pose estimate for the vehicle based at least in part on a comparison of second remote sensor data to a second reference data. A pose state estimator may generate a vehicle pose for the vehicle based at least in part on a first previous pose of the vehicle, the first pose estimate, and the second pose estimate.

There is provided a position and orientation measurement apparatus, information processing apparatus, and an information processing method, capable of performing robust measurement of a position and orientation. In order to achieve the apparatuses and method, at least one coarse position and orientation of a target object is acquired from an image including the target object, at least one candidate position and orientation is newly generated as an initial value used for deriving a position and orientation of the target object based on the acquired coarse position and orientation, and the position and orientation of the target object in the image is derived by using model information of the target object and by performing at least once of fitting processing of the candidate position and orientation generated as the initial value with the target object in the image.

A system and a method of position and orientation determination use an image capturing device and position and orientation sensors in user equipment such as a head mounted device HMD. The method may comprise receiving position measurements from the position sensor and receiving a selection of one or more anchors based on said position measurements including the position of each anchor. The position and orientation measurements may be used to determine whether any selected anchor is visible to said image capturing device based on said position and orientation measurements. Then the image capturing device may be activated to capture an image including said one or more anchors when a selected anchor is visible. The image may be analyzed to determine the position and orientation of the image capturing device relative to the one or more anchors.

Multiple mode star tracker methods and systems in which attitude information and image information is generated are provided. The multiple mode star tracker includes a detector having a plurality of pixels arranged in a focal plane array. The detector is operated to obtain multiple image frames from within a field of view containing a plurality of stars. For each of the image frames, the attitude of the detector and in turn the attitude of each pixel is determined. Based on the attitude quaternion of the individual pixels within a plurality of frames, image data from the plurality of frames is co-added or stacked to form a composite image. The co-addition of multiple frames of image data enables or facilitates the detection of dim objects by the multiple mode star tracker. Moreover, embodiments of the present disclosure enable the attitude quaternion for individual pixels within individual frames to be determined using the multiple mode star tracker function of the instrument, and without requiring attitude information provided by a separate device, such as a gyroscope.

An example method for determining a mobile device position and orientation is provided. The method may include capturing a two-dimensional image of a surface including at least four markers, and determining a unit direction vector for each of the at least four markers based on an association between a pixel location of each of the at least four markers in the two-dimensional image. The method may further include determining apex angles between each pair of the unit direction vectors, and determining marker distances from the imaging sensor to each of the at least four markers via a first iterative process based on the apex angles. Additionally, the method may include determining the mobile device position with respect to the coordinate frame via a second iterative process based on the marker distances, the apex angles, and the coordinates of each of the at least four markers.

The present invention relates to a redundant reciprocal tracking system composed of at least two trackers 10. A first tracker is able to sense partial or full pose data (orientation and position) of a second tracker in a first reference frame and the second tracker is able to sense partial or full pose data of the first tracker in a second reference frame. Pose data of first and second trackers are further transferred to a central processor 30, which is able to compute the transformation between first and second reference frame. Data generated by the trackers are such designed that they define an over-determined mathematical system (e.g. more than 6 degrees of freedom in a 3D setup). The over-determined information can be used to qualify and/or improve the transformation of the reference frame. In an embodiment of the invention, the tracking system is an optical one and the over-determined information defines an error metric used to check the validity of the transformation. Such setup could be used in surgical navigation system in order to reduce the risk of injury or death of the patient.

Disclosed are methods, assemblies and devices useful for identifying the location and/or motion of a mobile device in a specified area, for assisting in mapping a specified area and also to methods, assemblies and devices for determining a location of anchors found at fixed locations in a specified area.

A system and method for determining a position and orientation (e.g., pose) of a rigid body. The rigid body may be a position enabled projector, a surveying rod, a power tool, a drill robot, etc., in a given space. The position of the rigid body is specified by a set of three coordinates and the orientation is specified by a set of three angles. As such, based on these six values, the position and orientation of the rigid body can be determined.