Systems and methods for image capture device calibration for a materials handling vehicle

A materials handling vehicle comprising an image capture device and a vehicle computing device, wherein:

• the vehicle computing device stores logic that when executed by a processor, causes the materials handling vehicle to perform at least the following:
• determine a current location of the materials handling vehicle;
• determine a seed value associated with the image capture device, the seed value representing initial calibration parameters of the image capture device;
• capture image data in a warehouse, the image data including a location identifier that is representative of a location in the warehouse;
• communicate with a remote computing device to compare the image data with a site map and create an optimization problem, the optimization problem being created via a communication with a mapping library, the site map representing imagery and location data of a ceiling in the warehouse;
• determine a calibrated value for the image capture device from an output of the optimization problem;
• update the seed value based on the calibrated value;
• and
• apply the updated seed value for determining a new location of the materials handling vehicle.

A method for calibrating an image capture device for a materials handling vehicle comprising:

• determining a current location of the materials handling vehicle;
• estimating a seed value associated with the image capture device, wherein the seed value includes data related to at least one of the following:
• pitch of the image capture device, roll of the image capture device, and yaw of the image capture device;
• capturing image data in an environment, wherein the image data includes a location identifier that is representative of a location in a warehouse;
• communicating with a remote computing device to compare the image data with a site map to create an optimization problem, wherein the remote computing device utilizes a smoothing and mapping (SAM) library for creating the optimization problem;
• determining a calibrated value for the image capture device from the comparison and the seed value;
• computing a calibration confidence related to accuracy of the calibrated value for the image capture device, wherein the calibration confidence is representative an accuracy of the calibrated value based on a comparison of the image data with the site map;
• determining whether the calibration confidence meets a predetermined threshold;
• in response to determining that the calibration confidence does not meet the predetermined threshold, providing an instruction to restart calibration;
• and
• in response to determining that the calibration confidence does meet the predetermined threshold, applying the calibrated value for determining a new location of the materials handling vehicle.