Registration method and setup

Abstract

The invention relates to a registration method for determining position and orientation of an object in relation to a position detection system, wherein the method comprises the steps of capturing an image of a surface of an object with an image sensor unit comprising at least one motion sensor and/or at least one position sensor, determining a capturing position of the image sensor unit in a coordinate system of the position detection system by processing motion sensor signals provided by said motion sensor and/or position signals provided by said position sensor, photogrammetrically generating a surface model of the object from the captured image, and transforming the photogrammetrically generated surface model into the coordinate system of a position detection system.

1 - 33 . (canceled) 
     
     
         34 . A method for non-tactile registration of an object with a position detection system, the method comprising:
 generating a surface model of the object based on one or more images captured with an image sensor unit positioned at a capturing position, wherein the position detection system is an electromagnetic position detection system that has a working space having a predetermined electromagnetic field strength, and wherein the image sensor unit comprises a motion sensor positioned separate from the object;   determining the capturing position in a coordinate system of the position detection system, based on a sensor signal from the motion sensor; and   relating the surface model of the object to the position detection system based at least in part on the capturing position.   
     
     
         35 . The method of  claim 34 , wherein determining the capturing position comprises:
 detecting motion of the image sensor unit along a path relative to the position detection system, based on the sensor signal from the motion sensor;   defining a spatial relationship that relates at least one point on the path in a coordinate system of the motion sensor to a known position in a coordinate system of the position detection system; and   determining the capturing position in the coordinate system of the position detection system based on the detected motion of the image sensor along the path and the defined spatial relationship.   
     
     
         36 . The method of  claim 35 , wherein the path starts at the known position in the coordinate system of the position detection system and ends at the capturing position. 
     
     
         37 . The method of  claim 35 , wherein the path starts at the capturing position and ends at the known position in the coordinate system of the position detection system. 
     
     
         38 . The method of  claim 34 , wherein the image sensor unit comprises one or more stereographic cameras, one or more cameras in a multi-camera arrangement, one or more infrared image sensors, or a combination thereof. 
     
     
         39 . The method of  claim 38 , wherein the method comprises capturing the one or more images with the image sensor unit position at a capturing position outside of the working space. 
     
     
         40 . The method of  claim 34 , wherein the motion sensor is configured to track position of the image sensor unit along a path on which the image sensor unit is moved. 
     
     
         41 . The method of  claim 34 , wherein capturing the one or more images captured with an image sensor unit positioned at a capturing position further comprises:
 analyzing streaming image data of the image sensor unit; and   automatically triggering image capture based upon recognition of the object in a certain position relative to the image sensor unit.   
     
     
         42 . The method of  claim 34 , wherein capturing the one or more images captured with an image sensor unit positioned at a capturing position further comprises:
 analyzing streaming image data of the image sensor unit; and   automatically triggering image capture based upon a positional relation between a reference position sensor attached to the object and the image sensor unit.   
     
     
         43 . The method of  claim 34 , wherein the object is a face of a subject depicted in the captured image. 
     
     
         44 . A method for non-tactile registration of an object with a position detection system, the method comprising:
 generating a surface model of the object based on one or more images captured with an image sensor unit positioned at a capturing position, wherein the image sensor unit comprises a motion sensor positioned separate from the object;   determining the capturing position in a coordinate system of the position detection system, based on a sensor signal from the motion sensor, wherein determining the capturing position comprises:
 detecting motion of the image sensor unit along a path relative to the position detection system, based on the sensor signal from the motion sensor; 
 defining a spatial relationship that relates at least one point on the path in a coordinate system of the motion sensor to a known position in a coordinate system of the position detection system; and 
 determining the capturing position in the coordinate system of the position detection system based on the detected motion of the image sensor along the path and the defined spatial relationship; and 
   relating the surface model of the object to the position detection system based at least in part on the capturing position.   
     
     
         45 . The method of  claim 44 , wherein the path starts at the known position in the coordinate system of the position detection system and ends at the capturing position. 
     
     
         46 . The method of  claim 44 , wherein the path starts at the capturing position and ends at the known position in the coordinate system of the position detection system. 
     
     
         47 . The method of  claim 44 , wherein the image sensor unit comprises one or more stereographic cameras, one or more cameras in a multi-camera arrangement, one or more infrared image sensors, or a combination thereof. 
     
     
         48 . The method of  claim 44 , wherein the position detection system is an electromagnetic position detection system, and wherein the position detection system has a working space having a predetermined electromagnetic field strength. 
     
     
         49 . The method of  claim 48 , wherein the method comprises capturing the one or more images with the image sensor unit position at a capturing position outside of the working space. 
     
     
         50 . The method of  claim 44 , wherein capturing the one or more images captured with an image sensor unit positioned at a capturing position further comprises:
 analyzing streaming image data of the image sensor unit; and   automatically triggering image capture based upon recognition of the object in a certain position relative to the image sensor unit.   
     
     
         51 . The method of  claim 44 , wherein capturing the one or more images captured with an image sensor unit positioned at a capturing position further comprises:
 analyzing streaming image data of the image sensor unit; and   automatically triggering image capture based upon a positional relation between a reference position sensor attached to the object and the image sensor unit.   
     
     
         52 . The method of  claim 44 , wherein the object is a face of a subject depicted in the captured image.