System and method for verifying positional and spatial information using depth sensors

A system for verifying machine data used in monitoring a workspace during real-time operation of a machine within the workspace, the system comprising:

• one or more sensors arranged to monitor the workspace including a machine, wherein each sensor of the one or more sensors obtains a set of data, and wherein the set of data for each sensor of the one or more sensors includes position information for the machine in the workspace relative to a position of the respective sensor for each of the one or more sensors;
• an analysis module in operable communication with each sensor of the one or more sensors, the analysis module configured to receive the set of data, wherein the analysis module is further operable to:
• receive a depth map based on the set of data for each sensor of the one or more sensors, resulting in one or more depth maps, wherein each depth map contains machine depth pixels relating to a captured position of the machine within the workspace;
• receive a set of parameters associated with each sensor of the one or more sensors;
• receive machine data from the machine including position information for the machine;
• generate a synthetic depth map using the set of parameters associated with each sensor of the one or more sensors and the machine data, resulting in one or more synthetic depth maps, wherein each synthetic depth map contains machine pixel information simulated from a perspective of each sensor of the one or more sensors;
• and
• communicate a signal to the machine to alter a machine action responsive to a data verification failure determined during real-time operation of the machine based on a comparison of the machine depth pixels derived from each depth map for each sensor of the one or more sensors and the machine pixel information derived from the synthetic depth map for the corresponding sensor of the one or more sensors.

A system for verifying machine data used in monitoring a workspace during real-time operation of a machine within the workspace, the system comprising:

• a machine disposed in the workspace, the machine including a memory unit having stored machine data relating to position information for the machine, wherein the machine data further includes:
• (a) a machine model that includes information relating to degrees of freedom and actuation of the machine;
• and (b) machine movement information containing a current spatial pose for one or more links of the machine;
• one or more sensors arranged to monitor the workspace and the machine, wherein each sensor of the one or more sensors obtains a set of data, and wherein the set of data for each sensor of the one or more sensors includes position information for the machine in the workspace relative to a position of the respective sensor for each of the one or more sensors, the one or more sensors each further including a set of parameters associated therewith;
• and
• an analysis module in operable communication with each sensor of the one or more sensors and with the machine, the analysis module configured to receive the machine data from the machine and the set of data and set of parameters from each of the one or more sensors, wherein the analysis module is further operable to:
• generate a depth map from the set of data for each sensor of the one or more sensors, resulting in one or more depth maps, wherein each depth map contains machine depth pixels relating to a captured position of the machine within the workspace;
• generate a synthetic depth map using the set of parameters associated with each sensor of the one or more sensors and the machine data, resulting in one or more synthetic depth maps, wherein each synthetic depth map contains machine pixel information simulated from a perspective of each sensor of the one or more sensors;
• and
• communicate a signal to the machine responsive to a data verification failure determined during real-time operation of the machine based on a comparison of the machine depth pixels derived from each depth map for each sensor of the one or more sensors and the machine pixel information derived from the synthetic depth map for the corresponding sensor of the one or more sensors,
• wherein upon receipt of the signal from the analysis module, the machine alters a movement action for one or more of the one or more links of the machine.