US 11,887,340 B2
Dynamic calibration of 3D acquisition systems
Schuyler Alexander Cullen, Santa Clara, CA (US); Gerard Dirk Smits, Los Gatos, CA (US); and Steven Dean Gottke, Concord, CA (US)
Assigned to Summer Robotics, Inc., Campbell, CA (US)
Filed by Summer Robotics, Inc., Campbell, CA (US)
Filed on Jul. 17, 2023, as Appl. No. 18/222,780.
Application 18/222,780 is a continuation of application No. 17/876,333, filed on Jul. 28, 2022, granted, now 11,704,835.
Claims priority of provisional application 63/203,738, filed on Jul. 29, 2021.
Prior Publication US 2023/0360268 A1, Nov. 9, 2023
Int. Cl. G06T 7/80 (2017.01)
CPC G06T 7/80 (2017.01) 21 Claims
OG exemplary drawing
 
1. A method for calibrating sensors using one or more processors that are configured to execute instructions, wherein the instructions perform actions, comprising:
detecting a plurality of signals, by two or more sensors, for one or more signal beams that are reflected by an object, wherein the one or more signal beams are scanned over a plurality of paths across the object;
determining a plurality of events associated with the two or more sensors based on the plurality of detected signals and the plurality of paths;
determining a plurality of crossing points for each sensor based on one or more intersections of the plurality of paths with the scanned object and a time of the intersection, wherein one or more events associated with each sensor are associated with the plurality of crossing points for each sensor;
comparing each crossing point of each sensor to each correspondent crossing point of each other sensor based on one or more event metrics; and
determining one or more actual crossing points by performing further actions, comprising:
determining a time associated with each crossing point for each sensor based on the plurality of events and the one or event metrics;
determining one or more absolute time offsets between each sensor based on the time associated with each crossing point for each sensor; and
employing the one or more absolute time offsets to synchronize the crossing points across the two or more sensors.