# US 11,908,147 B1 · Calibration and monitoring of camera position and laser position and wavelength > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,908,147 B1 - Document ID: US11908147B1 - Status: Granted - Kind: B1 - Application number: 17/966,006 - Filed: 2022-10-14 - Granted: 2024-02-20 - Earliest claimed: 2022-10-14 - Assignees: Lumincode AS - Applicants: Lumincode AS - Inventors: Gudmund Slettemoen - Web page: https://patentgrep.com/patent/US11908147B1 ## CPC - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - H04N 17/002: {for television cameras} - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A device for calibrating and monitoring the position displacement of a camera relative to a support. A device for calibrating and monitoring a laser wavelength shift and the laser position displacement relative to a support. A method for calibrating and monitoring the position displacement of a camera relative to a support. A method for calibrating and monitoring the laser wavelength shift and the laser position displacement relative to a support. ## Claims ### Claim 1 A device for calibrating and monitoring the position displacement of a camera relative to a support, wherein the device comprises a pattern generator, a laser, one or several heat pumps, one or several temperature sensors, and a computer, wherein the device is configurable to make the laser illuminate the pattern generator and enable the camera and computer to record several individual patterns, and a composite pattern containing those individual patterns, enable by means of the heat pump and temperature sensor to control and record the temperature of one or several of the laser, pattern generator, camera, and the support, comprising the means to calculate pattern position displacements between corresponding individual patterns from composite patterns, responsivity parameters of the camera and laser position displacement and laser wavelength shift, camera position displacement by means of the responsivity parameters and displacements between corresponding individual patterns. ### Claim 2 (depends on 1) An apparatus combining a first device and a second device, the first device being the device of claim 1, the second device being a device for calibrating and monitoring a laser wavelength shift and the laser position displacement relative to a support, wherein the device comprises a pattern generator, a camera, one or several heat pumps, one or several temperature sensors, and a computer, wherein the device is configurable to make the laser illuminate the pattern generator and enable the camera and computer to record several individual patterns, and a composite pattern containing those individual patterns, enable by means of the heat pump and temperature sensor to control and record the temperature of one or several of the laser, pattern generator, camera, and the support, comprising the means to calculate pattern position displacements between corresponding individual patterns from composite patterns, responsivity parameters of the camera and laser position displacement and laser wavelength shift, laser position displacement and laser wavelength shift by means of the responsivity parameters and displacements between corresponding individual patterns, wherein a camera position displacement is calibrated and monitored according to the first device thereby helping more accurate calibration and monitoring of the laser wavelength shift and position displacement according to the second device. ### Claim 3 (depends on 1) An apparatus combining a first device and a second device, the first device being the device of claim 1, the second device being a device for calibrating and monitoring a laser wavelength shift and the laser position displacement relative to a support, wherein the device comprises a pattern generator, a camera, one or several heat pumps, one or several temperature sensors, and a computer, wherein the device is configurable to make the laser illuminate the pattern generator and enable the camera and computer to record several individual patterns, and a composite pattern containing those individual patterns, enable by means of the heat pump and temperature sensor to control and record the temperature of one or several of the laser, pattern generator, camera, and the support, comprising the means to calculate pattern position displacements between corresponding individual patterns from composite patterns, responsivity parameters of the camera and laser position displacement and laser wavelength shift, laser position displacement and laser wavelength shift by means of the responsivity parameters and displacements between corresponding individual patterns, wherein a laser wavelength shift and position displacement are calibrated and monitored according to the second device thereby helping more accurate calibration and monitoring of the camera position displacement according to the first device. ### Claim 4 (depends on 1) The apparatus according to the claim 1, wherein the laser is a gas laser, a solid-state laser, a fiber laser, a liquid dye laser, or a semiconductor laser that is equipped with illumination optics. ### Claim 5 (depends on 1) The apparatus according to claim 1, wherein the pattern generator is a scattering surface, a computer-generated reflection mask, a stratified or not stratified diffractive optical element (DOE), or a computer-generated hologram (CGH), each either placed in a reflection or transmission geometry. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the camera is equipped with observation optics. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the computer contains a processor connected to the camera and another processor connected to the heat pump and temperature sensors. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the laser and the camera are each placed on a separate stationary or moving support relative to the support. ### Claim 9 A device for calibrating and monitoring a laser wavelength shift and the laser position displacement relative to a support, wherein the device comprises a pattern generator, a camera, one or several heat pumps, one or several temperature sensors, and a computer, wherein the device is configurable to make the laser illuminate the pattern generator and enable the camera and computer to record several individual patterns, and a composite pattern containing those individual patterns, enable by means of the heat pump and temperature sensor to control and record the temperature of one or several of the laser, pattern generator, camera, and the support, comprising the means to calculate pattern position displacements between corresponding individual patterns from composite patterns, responsivity parameters of the camera and laser position displacement and laser wavelength shift, laser position displacement and laser wavelength shift by means of the responsivity parameters and displacements between corresponding individual patterns. ### Claim 10 (depends on 9) The apparatus according to the claim 9, wherein the laser is a gas laser, a solid-state laser, a fiber laser, a liquid dye laser, or a semiconductor laser that is equipped with illumination optics. ### Claim 11 (depends on 9) The apparatus according to claim 9, wherein the pattern generator is a scattering surface, a computer-generated reflection mask, a stratified or not stratified diffractive optical element (DOE), or a computer-generated hologram (CGH), each either placed in a reflection or transmission geometry. ### Claim 12 (depends on 9) The apparatus of claim 9, wherein the computer contains a processor connected to the camera and another processor connected to the heat pump and temperature sensors. ### Claim 13 (depends on 9) The apparatus of claim 9, wherein the laser and the camera are each placed on a separate stationary or moving support relative to the support. ### Claim 14 A method for calibrating and monitoring the position displacement of a camera relative to a support, the method comprising in a calibration step: illuminating a pattern generator with laser light from a laser; controlling and recording the temperature of one or several of the laser, the pattern generator, the camera, and the support by means of a heat pump and a temperature sensor; recording by use of the camera and a computer individual patterns of light reflected by the pattern generator, or transmitted through the pattern generator; recording by use of the camera and computer a composite pattern of light consisting of the individual patterns concurrently with the recording of the temperatures of the temperature sensors; calculating from minimum a composite pattern the position displacement of the individual pattern components; calculating the individual pattern responsivity parameters relating the camera and laser position displacements and laser wavelength shift to the geometrical configuration of the laser, the pattern generator, and the camera; the method further comprising a monitoring step, wherein the monitoring step is either a first monitoring step or a second monitoring step, wherein the first monitoring step comprises: Illuminating a pattern generator with laser light; controlling and recording the temperature of one or several of the laser, the pattern generator, the camera, and the support by means of a heat pump and a temperature sensor; recording by use of the camera and computer a composite pattern of light consisting of the individual pattern components concurrently with the recording of the temperatures of the temperature sensors; calculating from minimum a composite pattern the position displacement of the individual pattern components; calculating the camera position displacement by use of the individual pattern displacements, and the responsivity parameters; wherein the second monitoring step comprises: controlling and recording the temperature of one or several of the laser, the camera, and the support by means of a heat pump and a temperature sensor; calculating the camera position displacement from the monitoring temperature recordings and the calibration responsivity relations between the camera and laser position displacement, laser wavelength shift, and temperature recordings. ### Claim 15 (depends on 14) A method combining a first method and a second method, the first method being the method of claim 14, the second method being a method for calibrating and monitoring a laser wavelength shift and the laser position displacement relative to a support, the method comprising in a calibration step: Illuminating a pattern generator with laser light from a laser; controlling and recording the temperature of one or several of the laser, the pattern generator, the camera, and the support by means of a heat pump and a temperature sensor; recording by use of the camera and a computer individual patterns of light reflected by the pattern generator, or transmitted through the pattern generator; recording by use of the camera and computer a composite pattern of light consisting of the individual patterns concurrently with the recording of the temperatures of the temperature sensors; calculating from minimum a composite pattern the position displacement of the individual pattern components; calculating the individual pattern responsivity parameters relating the camera and laser position displacements and laser wavelength shift to the geometrical configuration of the laser, the pattern generator, and the camera; the method further comprising a monitoring step, wherein the monitoring step is either a first monitoring step or a second monitoring step, wherein the first monitoring step comprises: Illuminating a pattern generator with laser light; controlling and recording the temperature of one or several of the laser, the pattern generator, the camera, and the support by means of a heat pump and a temperature sensor; recording by use of the camera and computer a composite pattern of light consisting of the individual pattern components concurrently with the recording of the temperatures of the temperature sensors; calculating from minimum a composite pattern the position displacement of the individual pattern components; calculating the laser wavelength shift and the laser position displacement by use of the individual pattern displacements, and the responsivity parameters; wherein the second monitoring step comprises: controlling and recording the temperature of one or several of the laser, the camera, and the support by means of a heat pump and a temperature sensor; calculating the laser wavelength shift and the laser position displacement, from the monitoring temperature recordings and the calibration responsivity relations between the camera and laser position displacement, laser wavelength shift, and temperature recordings, wherein a camera position displacement is calibrated and monitored according to the first method thereby helping more accurate calibration and monitoring of the laser wavelength shift and position displacement according to the second method. ### Claim 16 (depends on 14) A method combining a first method and a second method, the first method being the method of claim 14, the second method being a method for calibrating and monitoring a laser wavelength shift and the laser position displacement relative to a support, the method comprising in a calibration step: Illuminating a pattern generator with laser light from a laser; controlling and recording the temperature of one or several of the laser, the pattern generator, the camera, and the support by means of a heat pump and a temperature sensor; recording by use of the camera and a computer individual patterns of light reflected by the pattern generator, or transmitted through the pattern generator; recording by use of the camera and computer a composite pattern of light consisting of the individual patterns concurrently with the recording of the temperatures of the temperature sensors; calculating from minimum a composite pattern the position displacement of the individual pattern components; calculating the individual pattern responsivity parameters relating the camera and laser position displacements and laser wavelength shift to the geometrical configuration of the laser, the pattern generator, and the camera; the method further comprising a monitoring step, wherein the monitoring step is either a first monitoring step or a second monitoring step, wherein the first monitoring step comprises: Illuminating a pattern generator with laser light; controlling and recording the temperature of one or several of the laser, the pattern generator, the camera, and the support by means of a heat pump and a temperature sensor; recording by use of the camera and computer a composite pattern of light consisting of the individual pattern components concurrently with the recording of the temperatures of the temperature sensors; calculating from minimum a composite pattern the position displacement of the individual pattern components; calculating the laser wavelength shift and the laser position displacement by use of the individual pattern displacements, and the responsivity parameters; wherein the second monitoring step comprises: controlling and recording the temperature of one or several of the laser, the camera, and the support by means of a heat pump and a temperature sensor; calculating the laser wavelength shift and the laser position displacement, from the monitoring temperature recordings and the calibration responsivity relations between the camera and laser position displacement, laser wavelength shift, and temperature recordings, wherein a laser wavelength shift and position displacement are calibrated and monitored according to the second method thereby helping more accurate calibration and monitoring of the camera position displacement according to the first method. ### Claim 17 (depends on 14) The method according to the claim 14, wherein the laser is a gas laser, a solid-state laser, a fiber laser, a liquid dye laser, or a semiconductor laser that is equipped with illumination optics. ### Claim 18 (depends on 14) The method according to claim 14, wherein the pattern generator is a scattering surface, a computer-generated reflection mask, a stratified or not stratified diffractive optical element (DOE), or a computer-generated hologram (CGH), each either placed in a reflection or transmission geometry. ### Claim 19 (depends on 14) The method of claim 14, wherein the camera is equipped with observation optics. ### Claim 20 (depends on 14) The method of claim 14, wherein the computer contains a processor connected to the camera and another processor connected to the heat pump and temperature sensors. ### Claim 21 (depends on 14) The method of claim 14, wherein the laser and the camera are each placed on a separate stationary or moving support relative to the support. ### Claim 22 (depends on 14) The method of claim 14, wherein the calibration step is conducted before, during, or after the monitoring steps. ### Claim 23 A method for calibrating and monitoring a laser wavelength shift and the laser position displacement relative to a support, the method comprising in a calibration step: Illuminating a pattern generator with laser light from a laser; controlling and recording the temperature of one or several of the laser, the pattern generator, the camera, and the support by means of a heat pump and a temperature sensor; recording by use of the camera and a computer individual patterns of light reflected by the pattern generator, or transmitted through the pattern generator; recording by use of the camera and computer a composite pattern of light consisting of the individual patterns concurrently with the recording of the temperatures of the temperature sensors; calculating from minimum a composite pattern the position displacement of the individual pattern components; calculating the individual pattern responsivity parameters relating the camera and laser position displacements and laser wavelength shift to the geometrical configuration of the laser, the pattern generator, and the camera; the method further comprising a monitoring step, wherein the monitoring step is either a first monitoring step or a second monitoring step, wherein the first monitoring step comprises: Illuminating a pattern generator with laser light; controlling and recording the temperature of one or several of the laser, the pattern generator, the camera, and the support by means of a heat pump and a temperature sensor; recording by use of the camera and computer a composite pattern of light consisting of the individual pattern components concurrently with the recording of the temperatures of the temperature sensors; calculating from minimum a composite pattern the position displacement of the individual pattern components; calculating the laser wavelength shift and the laser position displacement by use of the individual pattern displacements, and the responsivity parameters; wherein the second monitoring step comprises: controlling and recording the temperature of one or several of the laser, the camera, and the support by means of a heat pump and a temperature sensor; calculating the laser wavelength shift and the laser position displacement, from the monitoring temperature recordings and the calibration responsivity relations between the camera and laser position displacement, laser wavelength shift, and temperature recordings. ### Claim 24 (depends on 23) The method according to the claim 23, wherein the laser is a gas laser, a solid-state laser, a fiber laser, a liquid dye laser, or a semiconductor laser that is equipped with illumination optics. ### Claim 25 (depends on 23) The method according to claim 23, wherein the pattern generator is a scattering surface, a computer-generated reflection mask, a stratified or not stratified diffractive optical element (DOE), or a computer-generated hologram (CGH), each either placed in a reflection or transmission geometry. ### Claim 26 (depends on 23) The method of claim 23, wherein the computer contains a processor connected to the camera and another processor connected to the heat pump and temperature sensors. ### Claim 27 (depends on 23) The method of claim 23, wherein the laser and the camera are each placed on a separate stationary or moving support relative to the support. ### Claim 28 (depends on 23) The method of claim 23, wherein the calibration step is conducted before, during, or after the monitoring steps.