Calibration of scanning 3-d perception systems

A processor readable non-transitory storage media that includes instructions for calibrating a system, wherein execution of the instructions by one or more processors on one or more network computers performs actions, comprising:

• scanning a plurality of paths of one or more beams across a first object and a second object, wherein the plurality of paths are generated by a projector, and wherein the first object is disposed between the second object and the projector,
• determining a plurality of trajectories based on the one or more beams scanned on the plurality of paths across the first object and the second object;
• employing one or more breaks in one or more of the plurality of paths to determine a first portion of the plurality of trajectories that correspond to a first portion of the one or more paths scanned across the first object, wherein the one or more breaks in the one or more paths are employed to determine a second portion of the plurality of trajectories that correspond to a second portion of the one or more paths scanned across the second object;
• determining one or more first endpoints of the first portion of the trajectories and determining one or more second endpoints of the second portion of the trajectories based on the one or more breaks in the one or more paths;
• determining two or more rays separated by the one or more breaks caused by a depth between the first object and the second object and are disposed along a first portion and a second portion of a corresponding trajectory based on the one or more second endpoints and the one or more first endpoints;
• determining an origin point of the one or more beams generated by the projector based on an intersection of the two or more rays;
• and
• calibrating the system based on the origin point for the projector.

A network computer for calibrating a system, comprising:

• a memory that stores at least instructions;
• and
• one or more processors configured to execute instructions, wherein the instructions perform actions, including:
• scanning a plurality of paths of one or more beams across a first object and a second object, wherein the plurality of paths are generated by a projector, and wherein the first object is disposed between the second object and the projector;
• determining a plurality of trajectories based on the one or more beams scanned on the plurality of paths across the first object and the second object;
• employing one or more breaks in one or more of the plurality of paths to determine a first portion of the plurality of trajectories that correspond to a first portion of the one or more paths scanned across the first object, wherein the one or more breaks in the one or more paths are employed to determine a second portion of the plurality of trajectories that correspond to a second portion of the one or more paths scanned across the second object;
• determining one or more first endpoints of the first portion of the trajectories and determining one or more second endpoints of the second portion of the trajectories based on the one or more breaks in the one or more paths;
• determining two or more rays separated by the one or more breaks caused by a depth between the first object and the second object and are disposed along a first portion and a second portion of a corresponding trajectory based on the one or more second endpoints and the one or more first endpoints;
• determining an origin point of the one or more beams generated by the projector based on an intersection of the two or more rays;
• and
• calibrating the system based on the origin point for the projector.

A system for calibrating a system, comprising:

• a network computer, comprising:
• a memory that stores at least instructions;
• and
• one or more processors configured to execute instructions, wherein the instructions perform actions, including:
• scanning a plurality of paths of one or more beams across a first object and a second object, wherein the plurality of paths are generated by a projector, and wherein the first object is disposed between the second object and the projector;
• determining a plurality of trajectories based on the one or more beams scanned on the plurality of paths across the first object and the second object;
• employing one or more breaks in one or more of the plurality of paths to determine a first portion of the plurality of trajectories that correspond to a first portion of the one or more paths scanned across the first object, wherein the one or more breaks in the one or more paths are employed to determine a second portion of the plurality of trajectories that correspond to a second portion of the one or more paths scanned across the second object;
• determining one or more first endpoints of the first portion of the trajectories and determining one or more second endpoints of the second portion of the trajectories based on the one or more breaks in the one or more paths;
• determining two or more rays separated by the one or more breaks caused by a depth between the first object and the second object and are disposed along a first portion and a second portion of a corresponding trajectory based on the one or more second endpoints and the one or more first endpoints;
• determining an origin point of the one or more beams generated by the projector based on an intersection of the two or more rays;
• and
• calibrating the system based on the origin point for the projector;
• and
• one or more client computers, comprising:
• a memory that stores at least instructions;
• and
• one or more processors configured to execute instructions, wherein the instructions perform actions, including, determining one or more of the plurality paths.