Device and Method for Measuring Position and Orientation of a Moving Object

Device for Measuring Position and Orientation Using Perspective Projection Matrices of Two Image Points

This technology calculates the position and orientation of a moving object by applying just two feature points extracted from a 2D camera image and their corresponding 3D information into a perspective projection matrix equation. It uses trigonometric synthesis to compute rotation (sinθ, cosθ) and translation (tx, ty) data at high speeds.

Conventional visual odometry technologies require a large number of image points to ensure accuracy, leading to high computational loads and limitations in real-time processing due to iterative optimization. They also rely heavily on expensive IMU or GPS/INS sensors, resulting in low cost-efficiency.

This technology defines a perspective projection matrix equation using only two image points and derives rotation and translation data using internal parameters (focal length, principal point). In particular, it significantly reduces computational complexity by synthesizing expressions containing sinθ and cosθ into a single trigonometric function.

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Key Features:

• A 2D image acquisition unit installed on a moving object to capture 2D images while traveling on a plane
• A movement information measurement unit that extracts two image points from the 2D image and measures the position and orientation of the moving object using coordinate and 3D information
• A calculation unit that derives the perspective projection matrix relationship for the rotation and translation of the moving object using the coordinates, 3D information of the image points, and internal parameters
• A movement information calculation unit that synthesizes the sinθ and cosθ relationship representing rotation into a single trigonometric component to compute rotation and translation data

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