	US 12,111,180 B2
	Calibration of sensor position offsets based on rotation and translation vectors for matched trajectories
Brian Alexander Paden, Scotts Valley, CA (US)
Assigned to Summer Robotics, Inc., Campbell, CA (US)
Filed by Summer Robotics, Inc., Campbell, CA (US)
Filed on Jul. 1, 2022, as Appl. No. 17/856,690.
Claims priority of provisional application 63/259,233, filed on Jul. 1, 2021.
Prior Publication US 2023/0003549 A1, Jan. 5, 2023
Int. Cl. G01C 25/00 (2006.01); G01C 3/02 (2006.01)

CPC G01C 25/00 (2013.01) [G01C 3/02 (2013.01)]

18 Claims

1. A method for perceiving surfaces using one or more processors that are configured to execute instructions, wherein the executed instructions enable actions, comprising:

employing two or more sensors to separately monitor a continuous stream of sensor events based on one or more scanned light beam reflections from one or more surfaces;

employing one or more portions of the monitored sensor events to generate one or more trajectories for each sensor;

determining a set of velocity vectors associated with a trajectory for one of the two or more sensors that matches another set of determined velocity vectors associated with another trajectory;

generating a translation vector and a rotation vector associated with the determined velocity vectors associated with the matching trajectories, wherein physical positions of the two or more sensors are offset from each other;

calibrating the two or more sensors by decreasing one or more offset errors based on the translation vector and the rotation vector; and

providing the matching trajectories, the translation vector, and the rotation vector to a modeling engine, wherein the modeling engine employs the matching trajectories to calculate a position of a surface in three dimensional space.