# US 9,519,810 B2 · Calibration and self-test in automated data reading systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,519,810 B2 - Document ID: US9519810B2 - Status: Granted - Kind: B2 - Application number: 13/948,036 - Filed: 2013-07-22 - Published: 2014-02-06 - Granted: 2016-12-13 - Earliest claimed: 2012-07-31 - Assignees: Datalogic ADC, Inc. - Applicants: Datalogic ADC, Inc. - Inventors: WenLiang Gao; Jeffrey J. Hoskinson - Web page: https://patentgrep.com/patent/US9519810B2 ## CPC - G06K 7/015: Aligning or centering of the sensing device with respect to the record carrier - G06K 7/10811: {Focalisation} - G06K 7/10861: {sensing of data fields affixed to objects or articles, e.g. coded labels (postal sorting B07C3/14, conveying articles B65G47/48)} - G06K 7/1443: {locating of the code in an image} - G06K 7/146: {the method including quality enhancement steps} - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Calibrating extrinsic parameters of an imaging system in an automated data reading system includes obtaining, from the imaging system, image data representing an imaged portion of a planar calibration target. The target is coupled to a housing of the automated data reading system and superimposed on a surface thereof. For example, the calibration target is placed on a conveyer surface, or it is printed on the housing of the automated data reading system. The imaged portion of the planar calibration target includes spaced-apart optical codes disposed at positions that coincide with predetermined locations of the automated data reading system to define known calibration-control points for the surface. Optical codes represented in the image data are decoded to obtain observed calibration-control points used for calibrating the extrinsic parameters based on differences between the known and observed locations of the calibration-control points. ## Claims ### Claim 1 A method of calibrating position and orientation parameters of an imaging system in an automated data reading system, the automated data reading system including an optical code decoder system configured to decode first optical codes when the first optical codes are detected from items in response to the items being transported through a read zone established by the imaging system, the method comprising: obtaining, from the imaging system, image data representing an imaged portion of a planar calibration target that is superimposed in the read zone on a surface of the automated data reading system, the imaged portion of the planar calibration target including spaced-apart second optical codes disposed at predetermined positions on a surface of the automated data reading system to define known locations of calibration-control points on the surface, the second optical codes each including multiple modules of contrasting colors positioned according to an optical code symbology to encode information based on a spatial arrangement of the multiple modules; providing the image data to the optical code decoder system to determine an observed location of a calibration-control point from each one of the second optical codes based on the spatial arrangement of the multiple modules to establish from the second optical codes observed locations of the calibration-control points represented by the image data; and calibrating position and orientation parameters of the imaging system based on differences between the known and observed locations of the calibration-control points. ### Claim 2 (depends on 1) A method according to claim 1, in which the calibration target is coupled to a housing of the automated data reading system. ### Claim 3 (depends on 2) A method according to claim 2, in which the housing includes the second optical codes affixed thereto to define the planar calibration target that is superimposed on the surface of the housing, the method further comprising: configuring the automated data reading system to transition from a first mode in which the second optical codes are not decodable to a second mode in which the second optical codes are decodable. ### Claim 4 (depends on 3) A method according to claim 3, in which the first and second modes comprise exposure control settings, the step of configuring comprising: transitioning from a first exposure control setting in which the second optical codes are not represented in the image data to a second exposure control setting in which the second optical codes are represented in the image data. ### Claim 5 (depends on 1) A method according to claim 1, in which the step of calibrating comprises: determining the position and orientation parameters of the imaging system based on a camera model that fits the known locations to the observed locations in accordance with a forward-projection model. ### Claim 6 (depends on 1) A method according to claim 1, in which the step of calibrating comprises: determining the position and orientation parameters of the imaging system based on a camera model that fits the observed locations to the known locations in accordance with a back-projection model. ### Claim 7 (depends on 6) A method according to claim 6, further comprising: refining the camera model iteratively. ### Claim 8 (depends on 7) A method according to claim 7, in which the step of refining comprises: adjusting estimated position and orientation parameters of the camera model; determining, based on the camera model, a value of a cost function representing spatial differences between the known and observed locations; and repeating the steps of adjusting and determining until the value of the cost function is within a desired limit. ### Claim 9 (depends on 8) A method according to claim 8, further comprising: initializing the estimated position and orientation parameters to predetermined values based on a specified installation location of the imaging system in the automated data reading system. ### Claim 10 (depends on 1) A method according to claim 1, in which the imaging system comprises multiple imaging systems including a top-side imaging system with a first field of view configured to project toward a conveyor system, a bottom-side imaging system with a second field of view configured to project via a gap in the conveyor system, and opposing sidewall imaging systems with corresponding and partly overlapping fields of view configured to project laterally, and in which the planar calibration target comprises a multi-plane calibration target having first and second opposing sides that respectively confront the first and second fields of view, and having third and fourth confronting sides that respectively confront the partly overlapping fields of view, the method further comprising: contemporaneously performing the step of calibrating for the multiple imaging systems. ### Claim 11 (depends on 1) A method according to claim 1, in which the automated data reading system includes optics configured to subdivide a field of view of the imaging system to establish a discontiguous field of view with multiple projection centers having associated position and orientation parameters, the method further comprising: performing the step of calibrating for the multiple projection centers. ### Claim 12 (depends on 1) A method according to claim 1, further comprising: producing an indication that the step of calibrating is concluded. ### Claim 13 (depends on 12) A method according to claim 12, in which the planar calibration target comprises a freestanding template with keyed portions configured to engage corresponding portions of a housing of the automated data reading system while the template is superimposed on a conveyor surface of the automated data reading system, the method further comprising: notifying a user to uncouple and remove the freestanding template away from the conveyor surface in response to the step of producing an indication. ### Claim 14 (depends on 1) A method according to claim 1, further comprising: determining bounding boxes for the second optical codes from the image data; determining centroids of the bounding boxes; and determining a region of interest based on bounding boxes and centroids. ### Claim 15 A calibration system for calibrating position and orientation parameters of an imaging system in an automated data reading system configured to decode first optical codes when the first optical codes are detected from items in response to the items being transported through a read zone established by the imaging system, the calibration system comprising: a planar calibration target configured to be coupled to a housing of the automated data reading system and superimposed in the read zone on a surface of the automated data reading system, the planar calibration target including spaced-apart second optical codes disposed at predetermined positions on a surface of the automated data reading system to define known locations of calibration-control points, the second optical codes each including multiple modules of contrasting colors positioned according to an optical code symbology to encode information based on a spatial arrangement of the multiple modules; an optical code decoder configured to receive, from the imaging system, image data representing an imaged portion of the planar calibration target that includes the second optical codes, and further configured to determine from the image data an observed location of a calibration-control point from each one of the second optical codes based on the spatial arrangement of the multiple modules to establish from the second optical codes observed locations of the calibration-control points; and a computing device configured to calibrate the position and orientation parameters based on differences between the known and observed locations of the calibration-control points. ### Claim 16 (depends on 15) A calibration system according to claim 15, in which the second optical codes include two-dimensional optical codes. ### Claim 17 (depends on 15) A calibration system according to claim 15, in which the planar calibration target comprises a freestanding template with keyed portions configured to engage corresponding grooves of the housing of the automated data reading system while the freestanding template is superimposed on a conveyor surface of the automated data reading system. ### Claim 18 (depends on 15) A calibration system according to claim 15, in which the second optical codes comprise multiple optical codes on confronting sidewalls of the housing that border the read zone of the automated data reading system. ### Claim 19 (depends on 15) A calibration system according to claim 15, in which the second optical codes represented in the image data are undecodable in a normal mode and decodable in a calibration mode. ### Claim 20 (depends on 19) A calibration system according to claim 19, in which the multiple modules of the second optical codes are color-inversed, mirrored, infrared reflective, transposed, or a combination of the four. ### Claim 21 (depends on 19) A calibration system according to claim 19, in which the second optical codes represented in the image data are underexposed in the normal mode and sufficiently exposed in the calibration mode to decode the second optical codes from the image data. ### Claim 22 (depends on 15) A calibration system according to claim 15, in which the second optical codes include optical codes with void areas to inhibit duplicate decodes from a bottom-surface imaging system. ### Claim 23 (depends on 15) A calibration system according to claim 15, in which the imaging system has a consistent focal length adjustment throughout a calibration process.