Method and system for multiple 3D sensor calibration
AssigneeOtis Elevator Company
InventorsZhen Jia, Yanzhi Chen, Hui Fang, Arthur Hsu, Alan Matthew Finn
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Abstract
A method for multiple 3D sensor calibration for a passenger conveyance system, the process including a computing a centroid location from spatial measurements for each of a pair of 3D sensors that form a common field of view via a moving object mathematical model; computing translation parameters from the locations of each centroid location; and correcting one of the pair of 3D sensors to a common world coordinate system from the translation parameters.
Claims24
A method for multiple 3D sensor calibration without taking measurements in sensor and world coordinate systems, the process comprising:
- calculating a centroid location from spatial measurements for each of a pair of 3D sensors that form a common field of view via a moving object mathematical model;
- calculating at least one of translation and rotation parameters from the locations of each centroid location;
- synchronizing each of the 3D sensors in time;
- and
- correcting one of the pair of 3D sensors to a common world coordinate system from at least one of the translation and rotation parameters.
A sensor calibration system for a passenger conveyance system without taking measurements in both sensor and world coordinate systems, comprising:
- a multiple of sensors with at least one overlapping field of view;
- a processing module in communication with the multiple sensors, the processing module including a moving object mathematical model operable to estimate a common centroid location to compute translation parameters from the locations of each centroid location to facilitate correction of at least one of the pair of 3D sensors to a common world coordinate system from the translation parameters, each of the multiple of 3D sensors synchronized in time.
Dependencies are inferred from the claim text.