Optical axis calibration of robotic camera system
US12175556B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 13, 2022 |
| Grant date | Dec 24, 2024 |
| Priority date | — |
| Expiry date | Apr 26, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30208
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method, instructions for which are executed from a computer-readable medium, calibrates a robotic camera system having a digital camera connected to an end-effector of a serial robot. The end-effector and camera move within a robot motion coordinate frame (“robot frame”). The method includes acquiring, using the camera, a reference image of a target object on an image plane having an optical coordinate frame, and receiving input signals, including a depth measurement and joint position signals. Separate roll and pitch offsets are determined of a target point within the reference image with respect to the robot frame while moving the robot. Offsets are also determined with respect to x, y, and z axes of the robot frame while moving the robot through another motion sequence. The offsets are stored in a transformation matrix, which is used to control the robot during subsequent operation of the camera system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.