US 11,941,851 B2
Systems and methods for calibrating imaging and spatial orientation sensors
Xiaochun Nie, Mountain View, CA (US)
Filed by Xiaochun Nie, Mountain View, CA (US)
Filed on Sep. 21, 2021, as Appl. No. 17/480,894.
Application 17/480,894 is a continuation of application No. 16/638,615, granted, now 11,170,531, previously published as PCT/US2018/049469, filed on Sep. 5, 2018.
Claims priority of provisional application 62/557,786, filed on Sep. 13, 2017.
Prior Publication US 2022/0005225 A1, Jan. 6, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/80 (2017.01)
CPC G06T 7/80 (2017.01) [G06T 2207/30244 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method comprising:
determining a first relative rotation of an imaging sensor between a first orientation of the imaging sensor and a second orientation of the imaging sensor;
determining a second relative rotation of the imaging sensor between a third orientation of the imaging sensor and a fourth orientation of the imaging sensor;
determining a relative orientation of the imaging sensor with respect to a reference frame based on the first relative rotation and the second relative rotation;
wherein determining the first relative rotation comprises:
obtaining a first image of a first point in a three-dimensional space and a second image of a second point in the three-dimensional space, using the imaging sensor at the first orientation;
obtaining a third image of the first point and a fourth image of the second point, using the imaging sensor at the second orientation;
determining the first relative rotation based on the first image, the second image, the third image and the fourth image.