US 12,462,426 B2
Camera registration via robot
Xuesong Shi, Beijing (CN); Yujie Wang, Beijing (CN); Zhigang Wang, Beijing (CN); Peng Wang, Beijing (CN); and Robert Watts, El Dorado Hills, CA (US)
Assigned to Intel Corporation, Santa Clara, CA (US)
Appl. No. 18/254,182
Filed by Intel Corporation, Santa Clara, CA (US)
PCT Filed Dec. 25, 2020, PCT No. PCT/CN2020/139588
§ 371(c)(1), (2) Date May 24, 2023,
PCT Pub. No. WO2022/134060, PCT Pub. Date Jun. 30, 2022.
Prior Publication US 2024/0095957 A1, Mar. 21, 2024
Int. Cl. G06T 7/80 (2017.01); G06T 7/33 (2017.01); G06T 7/73 (2017.01)
CPC G06T 7/80 (2017.01) [G06T 7/33 (2017.01); G06T 7/73 (2017.01); G06T 2207/30208 (2013.01); G06T 2207/30232 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for registering a camera into a map, comprising:
causing a robot to automatically move in a space to a predetermined number of different positions corresponding to a predetermined number of observations;
collecting an observation of a calibration marker from an image captured by the camera, the calibration maker being attached to the robot, wherein the robot is capable of moving in a view of the camera, the observation being collected when the calibration marker is detected from the image captured by the camera and keeps stable in the image for a predetermined duration;
calculating, for the observation of the calibration marker, a transform T (camera, marker) between a camera frame of the camera and a marker frame of the calibration marker;
obtaining, for the observation of the calibration marker, a transform T (world, robot) between a world frame of the map and a robot frame of the robot; and
performing, when more than the predetermined number of observations of the calibration marker are collected during movement of the robot, a calibration process to calculate a transform T (world, camera) between the world frame and the camera frame based on the transform T (camera, marker) and the transform T (world, robot) for each observation of the calibration marker.