US 12,190,544 B2
Method of calibrating camera to robot, system, and non-transitory computer-readable storage medium storing computer program
Akinobu Sato, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION, (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Jun. 21, 2023, as Appl. No. 18/338,389.
Claims priority of application No. 2022-100007 (JP), filed on Jun. 22, 2022.
Prior Publication US 2023/0419545 A1, Dec. 28, 2023
Int. Cl. G06T 7/80 (2017.01)
CPC G06T 7/80 (2017.01) [G06T 2207/20024 (2013.01); G06T 2207/20081 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A method of calibrating a camera to a robot, the method comprising:
(a) estimating pixel coordinate values of a plurality of characteristic points set in advance in a robot arm from an image of the robot arm taken by the camera using a first machine learning model already learned;
(b) estimating first coordinate values of the plurality of characteristic points in a 3D camera coordinate system from the pixel coordinate values of the plurality of characteristic points using a second machine learning model already learned;
(c) calculating second coordinate values of the plurality of characteristic points in a 3D robot coordinate system using an encoder value of the robot arm; and
(d) executing the steps (a) through (c) with respect to a plurality of postures of the robot arm to estimate calibration parameters including an external parameter of the camera using the first coordinate values and the second coordinate values of the plurality of characteristic points in the plurality of postures.