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US 11,077,557 B2Granted
System and method for robust calibration between a machine vision system and a robot
AssigneeCognex Corporation
InventorsAaron S. Wallack, Lifeng Liu, Xiangyun Ye
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Abstract
A system and method for robustly calibrating a vision system and a robot is provided. The system and method enables a plurality of cameras to be calibrated into a robot base coordinate system to enable a machine vision/robot control system to accurately identify the location of objects of interest within robot base coordinates.
Claims13
A method for calibration between a machine vision system and a robot, the method comprising:
- obtaining a set of pairs of camera poses and robot poses;
- analyzing corresponding robot motions of the robot and camera motions of a camera among the obtained set of pairs;
- detecting outliers based on the analyzing;
- re-ordering the set of pairs, with the detected outliers removed, to obtain a set of pairs of camera poses and robot poses with suitable motions;
- utilizing the set of pairs of camera poses and robot poses with suitable motions to perform calibration by obtaining a plurality of images of a calibration object in at least two pairs of camera poses and robot poses and minimizing discrepancies between features of the calibration object identified in the plurality of images and features of the calibration object predicted by the robot poses in the set of pairs of camera poses and robot poses using a camera coordinate system for the camera, a calibration object coordinate system for the calibration object, a robot coordinate system for a portion of the robot that is stationary, and an effector coordinate system for a portion of the robot that moves to occupy the robot poses.
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