Systems and methods for information-assisted sensor registration
AssigneeSymbotic LLC
InventorsClara Vu, Audrey Lewis, Antonio Fiol-Mahon, U. Murat Erdem, Patrick J. Foy, Ilya A. Kriveshko, Scott Denenberg, Alberto Moel
Life of this patent
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Abstract
Image sensors distributed about a workcell including industrial machinery are registered using a registration object and an information tag associated therewith. The tag contains information specifying the location of the object and/or the pose of the object. This information is acquired along with images of the registration object, and the sensors are registered based at least in part on the images and the acquired information.
Claims18
A method of ensuring safe operation of industrial machinery in a workcell, the workcell including at least one object having on or in proximity thereto a source of information specifying at least one of a location of the object or a pose of the object, the method comprising the steps of:
- a. disposing a plurality of image sensors proximate to the workcell and acquiring, with at least some of the image sensors, a plurality of images of the workcell;
- b. acquiring at least one of location or pose information of at least one object in the workcell appearing in at least one of the images;
- and
- c. registering the sensors to each other and to the workcell based at least in part on the plurality of images and the acquired information.
A registration object for facilitating registration among sensors distributed about a workspace, the registration object comprising:
- a. a body portion including at least one asymmetric feature;
- and
- b. affixed or in close proximity to the body portion, a source of optically or electronically readable information specifying a location and a pose of the object, wherein the source of optically or electronically readable information includes a geometry of the body portion.
Dependencies are inferred from the claim text.