High accuracy extrinsic calibration procedure for cameras and range sensors
US10977821B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 12, 2019 |
| Grant date | Apr 13, 2021 |
| Priority date | — |
| Expiry date | Oct 14, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T7/80
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
In one or more embodiments, a system for calibration between a camera and a ranging sensor comprises a ranging sensor to obtain ranging measurements for a target located at N number of locations with an emitter at M number of rotation positions. The system further comprises a camera to image the target to generate imaging measurements corresponding to the ranging measurements. Further, the system comprises a processor(s) to determine replacement ranging measurements that all lie in the same plane; to sample the replacement ranging measurements to produce sampled replacement ranging measurements; to determine sampled replacement imaging measurements corresponding to the sampled replacement ranging measurements; and to calculate calibration parameters by using some of the sampled replacement ranging measurements and the sampled replacement imaging measurements corresponding to the sampled replacement ranging measurements that are used, where the calibration parameters estimate the relationship of the camera to the ranging sensor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.