US 12,092,771 B2
Systems, methods and apparatuses for calibrating sensors mounted on a device
Simon Couture, San Diego, CA (US); Avi Halpern, San Diego, CA (US); Thomas Hrabe, San Diego, CA (US); and Matt Atlas, San Diego, CA (US)
Assigned to Brain Corporation, San Diego, CA (US)
Filed by Brain Corporation, San Diego, CA (US)
Filed on Mar. 30, 2021, as Appl. No. 17/216,775.
Application 17/216,775 is a continuation in part of application No. 17/142,669, filed on Jan. 6, 2021.
Application 17/142,669 is a continuation of application No. PCT/US2019/040237, filed on Jul. 2, 2019.
Claims priority of provisional application 62/694,679, filed on Jul. 6, 2018.
Prior Publication US 2021/0215811 A1, Jul. 15, 2021
Int. Cl. G01S 7/497 (2006.01); G01S 17/894 (2020.01); G01S 17/931 (2020.01); G05D 1/00 (2006.01); G06T 7/80 (2017.01); B25J 9/16 (2006.01); G01D 18/00 (2006.01)
CPC G01S 7/4972 (2013.01) [G01S 17/894 (2020.01); G01S 17/931 (2020.01); G05D 1/0238 (2013.01); G06T 7/80 (2017.01); B25J 9/1692 (2013.01); G01D 18/00 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A system comprising an environment for calibrating sensors on a robot, comprising:
a fixed location to secure the robot, the robot being configured to collect data from at least one sensor unit from the fixed location; and
at least one visual target, the at least one visual target comprises a plurality of two-dimensional shapes, the plurality of shaped being detectable by the at least one sensor unit of the robot, the visual target is different from a reference target, the reference target corresponds to sensor data of the at least one sensor target from a calibrated sensor, and the visual target comprises a plurality of two-dimensional, black and white shapes arranged in an asymmetrical pattern,
adjustment of location of the at least one sensor unit of the robot based on rotational alignment and translational alignment of the at least one sensor unit;
wherein the adjustment of location of the at least one sensor unit is based on transforming the visual target onto the reference target such that a center of the visual target is aligned to a center of the reference target.