US 12,189,034 B2
Method and device for controlling mobile target robot for sensor calibration
Seung Kwan Song, Gyeonggi-do (KR); Min Ho Lee, Gyeonggi-do (KR); In Gyu Lee, Gyeonggi-do (KR); and Seung Hwan Hong, Gyeonggi-do (KR)
Assigned to KAKAO MOBILITY CORP., Gyeonggi-do (KR)
Filed by KAKAO MOBILITY CORP., Gyeonggi-do (KR)
Filed on Dec. 20, 2022, as Appl. No. 18/085,531.
Claims priority of application No. 10-2022-0167821 (KR), filed on Dec. 5, 2022.
Prior Publication US 2024/0183984 A1, Jun. 6, 2024
Int. Cl. G01S 17/89 (2020.01); G01S 17/86 (2020.01); G05D 1/00 (2006.01); B60W 50/02 (2012.01); B60W 60/00 (2020.01)
CPC G01S 17/89 (2013.01) [G01S 17/86 (2020.01); G05D 1/0246 (2013.01); B60W 50/0205 (2013.01); B60W 2050/0215 (2013.01); B60W 60/00 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A method for controlling a mobile target robot for sensor calibration, the method comprising:
receiving observation data and position data measured by at least one sensor mounted on a mobile target robot from the mobile target robot, while the mobile target robot moves in a certain space where a sensor platform is placed;
setting a preset position of the sensor platform as origin of coordinates based on the observation data and the position data;
transforming position of the mobile target robot and position of a mobile target connected to the mobile target robot into position centered on the origin of coordinates;
setting a virtual reference area for performing sensor calibration based on sensor parameters including at least one of a position, direction, field of view (FOV) or focal length or combination thereof of at least one sensor provided in the sensor platform; and
controlling the mobile target robot and the mobile target such that the mobile target is located in the set virtual reference area based on the transformed position of the mobile target robot and the transformed position of the mobile target.