Systems and methods for calibration of a pose of a sensor relative to a materials handling vehicle
US11846949B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 13, 2020 |
| Grant date | Dec 19, 2023 |
| Priority date | — |
| Expiry date | Feb 23, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Methods and systems for a materials handling vehicle comprising a processor and a sensor to record warehouse features. The processor is configured to generate and extract features from sensor data, create a factor graph (FG) including a sensor extrinsics node (e0), and generate an initial vehicle node (v0), initial sensor frame node (c0), and initial sensor feature node (f0) that comprises a selected extracted feature associated with c0 and v0 in an initial data association. A subsequent vehicle node (v1) is generated based on an accumulated odometry amount, and a subsequent sensor frame node (c1) is generated and associated with e0, v1, and one of f0 or a subsequent sensor feature node (f1) in a subsequent data association. The FG is optimized to provide a sensor calibration output based on the data associations, and the vehicle is navigated based on the sensor calibration output.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.