Method and system for performing automatic camera calibration

A non-transitory computer-readable medium having instructions thereon that, when executed by a control circuit of a computing system, causes the control circuit to:

• receive a calibration image, wherein the calibration image is received from the non-transitory computer-readable medium or via a communication interface of the computing system, the communication interface being configured to communicate with a camera having a camera field of view, wherein the calibration image is generated by the camera when a calibration pattern is in the camera field of view, wherein the calibration image is an image representing the calibration pattern, the calibration pattern having a plurality of pattern elements having respective defined pattern element coordinates in a pattern coordinate system;
• determine a plurality of image coordinates that for representing respective locations at which the plurality of pattern elements appear in the calibration image;
• determine, based on the plurality of image coordinates and the defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters which describe lens distortion associated with the camera, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter;
• determine, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate of the first lens distortion parameter;
• and
• determine camera calibration information that includes respective estimates for the set of lens distortion parameters, wherein the respective estimates for the set of lens distortion parameters includes or are based on the estimate for the first lens distortion parameter and the estimate for the second lens distortion parameter,
• wherein the instructions, when executed by the control circuit and when the communication interface is in communication with the camera and with a robot, further cause the control circuit to receive a subsequent image generated by the camera after the camera calibration has been performed, and to generate a movement command for controlling robot movement, wherein the movement command is based on the subsequent image and based on the camera calibration information.

A method performed by a computing system for camera calibration, comprising:

• receiving a calibration image by the computing system, wherein the computing system includes a communication interface configured to communicate with a camera having a camera field of view, wherein the calibration image is generated by the camera when a calibration pattern is in the camera field of view, wherein the calibration image is an image representing the calibration pattern, the calibration pattern having a plurality of pattern elements with respective defined pattern element coordinates in a pattern coordinate system;
• determining a plurality of image coordinates for representing respective locations at which the plurality of pattern elements appear in the calibration image;
• determining, based on the plurality of image coordinates and the defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters which describe lens distortion associated with the camera, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter;
• determining, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate of the first lens distortion parameter;
• determining camera calibration information that includes respective estimates for the set of lens distortion parameters, wherein the respective estimates for the set of lens distortion parameters includes or are based on the estimate for the first lens distortion parameter and the estimate for the second lens distortion parameter;
• receiving a subsequent image generated by the camera after the camera calibration has been performed, and
• generating a movement command for controlling robot movement, wherein the movement command is based on the subsequent image and based on the camera calibration information.