FIELD: measuring.
SUBSTANCE: invention relates to measurement equipment and can be used in coordinate-measuring devices and computer vision systems for determining proper coordinates and orientation in space relative to three light-emitting sighting markers with controlled switching on and off. Method of determining proper coordinates by three sighting light-emitting markers using a videogrammetric system is that sighting targets enable a videogrammetric device to detect and distinguish them, measuring angular coordinates and calculating the distance to the geometric centre formed by these sighting targets, as a result of which the proper coordinates of the videogrammetric device are determined. Further, sets of all possible spatial coordinates of the three markers are determined by searching for solutions of the P3P problem. For each solution, Euler angles and a parallel transfer vector are calculated and the set of markers is selected which provides the minimum absolute difference of one of the Euler angles – either roll or pitch – relative to the reading of the auxiliary roll or pitch sensor mounted on the videogrammetric device. To identify markers on images, their switching on and off in accordance with a manipulation law corresponding to a binary noise-immune Hamming code is used.
EFFECT: simplified determination of proper coordinates due to rejection of levelling of sighting emitters and equality of distances between them.
1 cl, 2 dwg
