Patent attributes
Method of estimating a pose of a spatially movable platform, comprising providing at least one beacon, each beacon transmitting a mutually different blinking pattern relating to said beacon by modulating an intensity of an optical radiation signal, providing a pose estimation system comprising an image capturing device mounted on a spatially movable platform and image processing means communicatively connected to said image capturing device, capturing and processing a sequence of two-dimensional images comprising identifying at least one image object, determining an intensity variation of said at least one image object, detecting said blinking pattern relating to one of said at least one beacon, and matching said image object to a corresponding beacon using said detected blinking pattern, estimating a pose of said spatially movable platform relative to said at least one beacon using said at least one matched image object, wherein said modulating said intensity of said optical radiation signal of said beacon is performed using at least two different non-zero radiation states, and wherein said intensity variation of said at least one image object in said sequence of two dimensional images is between at least two different non-zero intensity states.
