Systems and Methods For Determining a Pose of a Sensor on a Robot
AssigneeBrain Corporation
InventorSahil Dhayalkar
Life of this patent
Estimating the term…
Abstract
Systems and methods for determining a pose of a sensor on a robot are disclosed herein. According to at least one non-limiting exemplary embodiment a pose of a sensor may be determined with respect to a base link frame origin based on a measured discrepancy between localization data of an object by the sensor and another sensor, the discrepancy corresponding to an error in a pose of the sensor. Pose graph optimization may further be utilized to calibrate all sensors of a robot using digital transformations or may be utilized to diagnose errors in poses of one or more sensors.
Claims15
A robotic system, comprising:
- a memory comprising computer-readable instructions stored thereon;
- and
- a processing device configured to execute the computer-readable instructions to, collect a first scan from a test sensor and a second scan from a second sensor,
- both the first and second scans comprising an object detected therein;
- determine a discrepancy between the first and second scans by scan matching points of the object of the second scan to points of the object of the first scan, the scan matching being performed within a base link frame of reference;
- determine a sensor transformation of the test sensor based on the determined discrepancy, the sensor transformation corresponding to a spatial transformation between an origin of the base link frame and an origin of the test sensor, the discrepancy corresponds to a change in pose of the test sensor from a default pose;
- and
- apply a digital transformation to the test sensor based on the sensor transformation, the digital transformation configured to match measurements of the object obtained from the test sensor and the second sensor.
A method, comprising:
- determining, via a controller of a robot, a sensor transformation matrix based on a scan matching between measurements of an object measured by a first sensor and a second sensor, the scan matching being performed within a base link frame of reference, the sensor transformation matrix comprising a spatial transformation between the base link frame and a local reference frame of the first sensor, the scan matching configured to align measurements by the first sensor to match measurements of the second sensor;
- and
- applying, via the controller, a digital transformation to data arriving from the first sensor based on the sensor transformation matrix of the first sensor, the digital transformation configured to match measurements of the object obtained from the first sensor and the second sensor.
A non-transitory computer-readable storage medium comprising a plurality of computer-readable instructions stored thereon that, when executed by a controller of a robot, configure the controller to,
- determine sensor transformation matrix based on a scan matching between measurements of an object measured by a first sensor and a second sensor, the scan matching being performed within a base link frame of reference, the sensor transformation matrix comprising a spatial transformation between the base link frame and a local reference frame of the first sensor, the scan matching configured to align measurements by the first sensor to match measurements of the second sensor;
- and
- apply a digital transformation to data arriving from the first sensor based on the sensor transformation matrix of the first sensor, the digital transformation configured to match measurements of the object obtained from the first sensor and the second sensor.
Dependencies are inferred from the claim text.