US 12,415,280 B2
Systems and methods for camera calibration with a fiducial of unknown position on an articulated arm of a programmable motion device
Yu Ding, Arlington, MA (US); Christopher Geyer, Arlington, MA (US); Luis Galup, Sudbury, MA (US); Jeffrey Kittredge, Lexington, MA (US); Thomas Koletschka, Somerville, MA (US); Lakshman Kumar, Billerica, MA (US); Anjana Nellithimaru, Billerica, MA (US); Ryan O'Hern, Reading, MA (US); and Jeremy Saslaw, Cambridge, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Oct. 5, 2023, as Appl. No. 18/377,086.
Application 18/377,086 is a continuation of application No. 17/167,648, filed on Feb. 4, 2021, granted, now 11,826,918, issued on Nov. 28, 2023.
Claims priority of provisional application 62/970,803, filed on Feb. 6, 2020.
Prior Publication US 2024/0033936 A1, Feb. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/70 (2017.01); B25J 9/16 (2006.01); G06T 7/80 (2017.01); G06V 10/147 (2022.01); G06V 10/25 (2022.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1692 (2013.01); G06T 7/70 (2017.01); G06T 7/80 (2017.01); G06V 10/147 (2022.01); G06V 10/25 (2022.01); G05B 2219/37009 (2013.01); G06T 2207/30208 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A calibration unit comprising:
a coupling portion for removably coupling to a programmable motion device;
a transverse portion with a planar shape that extends transverse to the coupling portion, said transverse portion including a top side and a bottom side thereof;
a plurality of light emitting diodes (LEDs), wherein the plurality of LEDs are disposed on the top side and the bottom side of the transverse portion; and
control circuitry in communication with the plurality of LEDs and in communication with a calibration processing system for analyzing images of the calibration unit including at least one of the plurality of LEDs from a camera projection point of a camera, and for providing calibration information regarding the programmable motion device and the camera projection point.