Systems, apparatuses and methods for calibrating LiDAR sensors of a robot using intersecting LiDAR sensors
AssigneeBrain Corporation
InventorRyan Lustig
Life of this patent
Estimating the term…
Abstract
Systems, apparatuses, and methods for calibrating LiDAR sensors of a robot using intersecting LiDAR sensors are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot may calibrate a calibration LiDAR based on a determined pose of the calibration LiDAR, wherein the pose is determined based on a measurement error between the calibration LiDAR and an intersecting reference LiDAR.
Claims15
A non-transitory computer readable storage medium comprising computer readable instructions stored thereon, the computer readable instructions, when executed by at least one processor, causes the at least one processor to:
- collect a group of scans using a calibration LiDAR and a reference LiDAR, the group of scans comprising a plurality of scans of a surface from both the calibration LiDAR and the reference LiDAR;
- determine a pose of the calibration LiDAR based on the group of scans;
- and
- adjust the calibration LiDAR based on an average pose, the average pose determined based on an average of a plurality of determined poses of the calibration LiDAR,
- wherein at least one measurement plane of the calibration LiDAR and the reference LiDAR intersect upon the surface.
A robotic system, comprising:
- a non-transitory computer readable medium comprising computer readable instructions stored thereon;
- and
- at least one processor configured to execute the computer readable instructions to:
- collect a group of scans using a calibration LiDAR and a reference LiDAR positioned on the robotic system, the group of scans comprising a plurality of scans of a surface from both the calibration LiDAR and reference LiDAR;
- determine a pose of the calibration LiDAR based on the group of scans;
- and
- adjust the calibration LiDAR based on an average pose, the average pose determined based on an average of a plurality of determined poses of the calibration LiDAR,
- wherein at least one measurement plane of the calibration LiDAR and reference LiDAR intersect upon the surface.
A method, comprising:
- collecting a group of scans using a calibration LiDAR and a reference LiDAR, the group of scans comprising a plurality of scans of a surface from both the calibration LiDAR and the reference LiDAR;
- determining a pose of the calibration LiDAR based on the group of scans;
- and
- adjusting the calibration LiDAR based on an average pose, the average pose determined based on an average of a plurality of determined poses of the calibration LiDAR,
- wherein at least one measurement plane of the calibration LiDAR and the reference LiDAR intersect upon the surface.
Dependencies are inferred from the claim text.