US 11,704,835 B2
Dynamic calibration of 3D acquisition systems
Schuyler Alexander Cullen, Santa Clara, CA (US); Gerard Dirk Smits, Los Gatos, CA (US); and Steven Dean Gottke, Hayward, CA (US)
Assigned to Summer Robotics, Inc., Campbell, CA (US)
Filed by Summer Robotics, Inc., Campbell, CA (US)
Filed on Jul. 28, 2022, as Appl. No. 17/876,333.
Claims priority of provisional application 63/203,738, filed on Jul. 29, 2021.
Prior Publication US 2023/0034733 A1, Feb. 2, 2023
Int. Cl. G06T 7/80 (2017.01)
CPC G06T 7/80 (2017.01) 28 Claims
OG exemplary drawing
 
1. A method for calibrating sensors using one or more processors that are configured to execute instructions, wherein the instructions perform actions, comprising:
using a sensing system that employs one or more signal beams to scan a plurality of paths across an object; wherein two or more sensors detect signals from the one or more signal beams reflected by the scanned object;
determining a plurality of events based on the detected signals and the plurality of paths, wherein each event is associated with one of the two or more sensors and one or more event metrics;
determining a plurality of crossing points for each sensor based on where the plurality of paths intersect the scanned object and a time of the intersection, wherein one or more events associated with each sensor are associated with the plurality of crossing points for each sensor;
comparing each crossing point of each sensor to each correspondent crossing point of each other sensor based on the one or more event metrics;
determining position information for each sensor based on a position of the plurality of crossing points; and
calibrating the sensing system based on the determined position information.