Implementation of an algorithm for determining the spatial coordinates and the angular orientation of an object based on reference marks, using information from a single camera

An algorithm for determining the spatial coordinates and angular orientation of an object with reference emitters using a single calibrated camera is considered. The algorithm is based on a sequential solution of a perspective-four-point task and more precise definition of reference emitter's spatial coordinates using the Levenberg – Marquardt optimization method. It is shown that while in the camera field of view there are four reference emitters with a priori known distances between them measured with up to 0.15 mm precision, it is possible to determine the angular orientation of the object in real time with an error less than 20 angular minutes.