Method and system for automatically determining the position and orientation of an object in 3-D space, "Single-camera 3-D", was filed December 21, 1988.
Dean's patents:
USPN 4,942,539 Method and system for automatically determining the position and orientation of an object in 3-D space (813KB)
USPN 5,331,264 Method and device for generating an input command for a motion control system (781KB)
USPN 5,373,221 Method and system for estimating robot tool center point speed (689KB)
USPN 6,064,168 Method of controlling robot movement(661KB)