Systems and methods for camera calibration with a fiducial of unknown position on an articulated arm of a programmable motion device

A calibration unit comprising:

• a coupling portion for removably coupling to a programmable motion device;
• a transverse portion with a planar shape that extends transverse to the coupling portion, the transverse portion including a top side and a bottom side thereof;
• a plurality of light emitting diodes (LEDs), wherein a first pair of the plurality of LEDs are disposed on the top side and a bottom side of the transverse portion and a second pair of the plurality of LEDs are on the bottom side of the transverse portion, wherein the first pair of the plurality of LEDs are visible LEDs and the second pair of the plurality of LEDs are infra-red LEDs;
• and
• control circuitry in communication with the plurality of LEDs and in communication with a calibration processing system for analyzing data with respect to a camera projection point of a camera regarding the plurality of LEDs, and for providing calibration information regarding the programmable motion device and the camera projection point.

A method of providing calibration of a camera to a relative working environment of a programmable motion device that includes an end-effector, said method comprising:

• attaching, using the programmable motion device, a calibration unit from a rack to the end effector, the calibration unit including a coupling portion for removably coupling the calibration unit to the end effector, a transverse portion with a planar shape that extends transverse to the coupling portion, and a plurality of light emitting diodes (LEDs), at least one of the plurality of LEDs being on a top side of the transverse portion, and at least another of the plurality of LEDs being on a bottom side of the transverse portion;
• capturing a plurality of images of the calibration unit on the end-effector from a camera projection point of a camera;
• analyzing the plurality of images that include one or more of the plurality of LEDs on the calibration unit;
• and
• providing calibration information regarding the camera projection point and the programmable motion device.