公开(公告)号：US20210233256A1

公开(公告)日：2021-07-29

申请号：US16776054

申请日：2020-01-29

Applicant: Zebra Technologies Corporation

Inventor： Sundaresan Sundaram ,  Alan J. Epshteyn ,  Anup Kulkarni ,  Shruti Kulkarni ,  Meena Avasarala ,  Kaushik Samudrala ,  Induja Seshagiri Babu ,  Vaibhav Srinivasa

IPC: G06T7/246 ,  G06K7/14 ,  G06T7/73 ,  G06K7/10

Abstract: A computing device includes: a tracking assembly including a camera; a data capture module; and a controller connected with the tracking assembly and the data capture module, the controller configured to: control the tracking assembly to track successive poses of the computing device in a first frame of reference; control the data capture module to capture and decode an indicium placed in a facility; obtain, based on the indicium, a position of a point in the facility in a second frame of reference corresponding to the facility; detect, via the camera, features of a marker placed in the facility; determine, based on the detected features, an orientation of the marker in the second frame of reference; and generate, for each pose in the first frame of reference, a corresponding pose in the second frame of reference according to the position of the point and the orientation.