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US 6,101,455 AGranted
Automatic calibration of cameras and structured light sources
OwnerMichael S. Davisinventor
Life of this patent
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OwnerMichael S. Davisinventor
Estimating the term…
A work cell containing robot(s), video camera(s), and structured lighting source(s) is calibrated by observing targets with the camera(s) as a robot is displaced through a set of offsets. Complete information is recovered about the camera(s) calibration data and the structure of illumination from the light source(s). The robot is utilized to create known relative movements between the targets and the camera(s) and light source(s). Therefore, this technique is applicable to both the fixed and moving camera cases. Except for the target surface profile, there is no requirement to externally determine any absolute or relative positions, or any relationships either within or between the camera(s), targets, light source(s), and robot(s). Either single or multiple cameras (acting independently or in stereo) are calibrated to the robot's coordinate frame, and then optionally used as measuring devices to determine the position and form of the structured light.
In a work cell of the type containing one or more robots, each having a coordinate frame, and one or more video cameras, a method of calibrating at least one of the cameras, comprising the steps of:
A method of automatically calibrating a single camera having a field of view in work-cell environment including a robotic manipulator with an end effector, comprising the steps of:
Dependencies are inferred from the claim text.