Automatic in-situ registration and calibration of robotic arm/sensor/workspace system

A system that controls a depth sensor and a robotic arm that operate in a workspace, the robotic arm comprises an end effector, the system comprises:

• a data repository, the data repository retains:
• sensor calibration points throughout the workspace, a sensor calibration point comprises first coordinates of the end effector in a sensor coordinate frame, the first coordinates previously collected during calibration with the end effector at a given position within the workspace;
• and
• arm calibration points throughout the workspace, the arm calibration points respectively correspond to the sensor calibration points, an arm calibration point that corresponds to the sensor calibration point comprises second coordinates of the end effector in an arm coordinate frame, the second coordinates previously collected during the calibration with the end effector at the given position within the workspace;
• an interface component that receives an input point from the depth sensor, the input point comprises coordinates indicative of a location in the sensor coordinate frame, the location being in the workspace;
• a sample selection component that:
• identifies sensor calibration points within proximity of the input point from the data repository;
• and
• identifies arm calibration points that respectively correspond to the sensor calibration points within proximity of the input point from the data repository;
• and
• an interpolation component that computes an estimated point that maps to the input point, the estimated point comprises coordinates indicative of the location in the arm coordinate frame, the estimated point computed based upon:
• the sensor calibration points within proximity of the input point;
• and
• the arm calibration points that respectively correspond to the sensor calibration points within proximity of the input point.

A method of controlling a depth sensor and a robotic arm that operate in a workspace, the robotic arm comprises an end effector, the method comprising:

• receiving an input point from the robotic arm, the input point comprises coordinates indicative of a location in an arm coordinate frame, the location being in the workspace;
• identifying arm calibration points within proximity of the input point, an arm calibration point comprises first coordinates of the end effector in the arm coordinate frame, the first coordinates previously collected during calibration with the end effector at a given position within the workspace;
• identifying sensor calibration points that respectively correspond to the arm calibration points, a sensor calibration point that corresponds to the arm calibration point comprises second coordinates of the end effector in a sensor coordinate frame, the second coordinates previously collected during the calibration with the end effector at the given position within the workspace;
• and
• employing a processor to compute an estimated point that maps to the input point, the estimated point comprises coordinates indicative of the location in the sensor coordinate frame, the estimated point computed based upon:
• the arm calibration points;
• and
• the sensor calibration points.