US 12,240,129 B2
Methods and systems of generating camera models for camera calibration
Jesse Melrose, San Diego, CA (US); Matthew Pearson, San Diego, CA (US); Jordan Liss, San Diego, CA (US); Julia Wetherill, San Diego, CA (US); and Brian Dunne, San Diego, CA (US)
Assigned to Quartus Engineering Incorporated, San Diego, CA (US)
Filed by Quartus Engineering Incorporated, San Diego, CA (US)
Filed on Aug. 26, 2022, as Appl. No. 17/897,012.
Claims priority of provisional application 63/260,690, filed on Aug. 29, 2021.
Prior Publication US 2023/0070281 A1, Mar. 9, 2023
Int. Cl. B25J 9/16 (2006.01); G06T 7/80 (2017.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1697 (2013.01); G06T 7/80 (2017.01)] 47 Claims
OG exemplary drawing
 
1. A method of generating a camera model, the method comprising:
(a) using a robotic assembly to move a calibration assembly relative to a camera assembly, or to move the camera assembly relative to the calibration assembly, through a predetermined series of poses,
wherein the calibration assembly comprises:
a calibration target; and
first, second, and third calibration assembly markers coupled to the calibration target at respective positions,
wherein the camera assembly comprises:
a mount;
a camera coupled to the mount at a respective location and having a field of view (FOV); and
first, second, and third camera assembly markers coupled to the mount at respective positions, and
wherein the predetermined series of poses, together, cause the calibration target to pass through at least a portion of the FOV of the camera;
(b) using the camera, at each pose of the predetermined series of poses, to generate a respective image of the calibration target;
(c) using a tracker, at each pose of the predetermined series of poses, to determine respective locations in space of the first, second, and third calibration assembly markers and respective locations in space of the first, second, and third camera assembly markers;
(d) for each respective image, generating a transformation function that maps onto a three-dimensional object space (i) stored coordinates of the first, second, and third calibration assembly markers, (ii) stored coordinates of the first, second, and third camera assembly markers, (iii) the determined locations in space, for that image, of the first, second, and third calibration assembly markers, (iv) the determined locations in space, for that image, of the first, second, and third camera assembly markers, and (v) features of the calibration target within the respective image; and
(e) using the transformation functions for the respective images to generate a model of extrinsic parameters and intrinsic parameters of the camera.