End-Effector Fiducial Tracking for Robotic Camera Extrinsic Calibration
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Solution Overview
Problem
Existing machine vision calibration systems for cameras relative to robotic arms are time-consuming and labor-intensive, often requiring significant changes to the robotic system and environment for extrinsic calibration.
Innovation Solution
A system and method using a fiducial marker located at or near the end-effector of a programmable motion device, with a camera system capturing images as the device moves in at least three degrees of freedom, allowing for the analysis of fiducial location to calibrate the camera with the robotic system without requiring significant changes to the environment or robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a planar calibration target is placed on the end-effector and the robot is moved to multiple positions for calibration, then extrinsic camera calibration can be performed, but the process becomes time-consuming and labor-intensive
Solution Approach 1:
The system performs calibration automatically during normal object processing operations. The fiducial marker on the end-effector is captured by the camera system while the robot processes objects, and the calibration algorithm automatically analyzes these images to determine camera extrinsic parameters without requiring separate manual calibration sessions
Solution Approach 2:
The calibration process is integrated into the continuous object processing workflow. Instead of stopping production for calibration, the system captures images of the fiducial marker during normal robot operations and performs calibration continuously or periodically without interrupting the primary function of object processing
2Measurement precision
If a planar calibration target is used for extrinsic calibration, then camera calibration can be achieved, but significant environmental changes and removal of robot attachments are required to prevent collisions
Solution Approach 1:
The calibration functionality is extracted from the traditional separate calibration process and integrated into the normal object processing workflow. The fiducial marker is placed on the end-effector itself rather than requiring a separate planar calibration target, eliminating the need for environmental modifications and attachment removals
Solution Approach 2:
The end-effector serves dual purposes: it performs the primary function of object manipulation while simultaneously carrying the fiducial marker for calibration. This multi-functionality eliminates the need for separate calibration equipment and environmental modifications, as the calibration features are integrated into the robot's existing structure
3Measurement precision
If traditional calibration methods are used, then extrinsic calibration can be performed, but the process requires significant changes to the robotic system and environment
Solution Approach 1:
The system uses its own operational movements during object processing to generate calibration data. The robot's normal motion while handling objects creates the varied viewing angles needed for calibration, eliminating the need for separate calibration setups and making the process as easy as normal operation
Data Source
AI summary
A system is disclosed for providing extrinsic calibration of a camera to a relative working environment of a programmable motion device that includes an end-effector. The system includes a fiducial located at or near the end-effector, at least one camera system for viewing the fiducial as the programmable motion device moves in at least three degrees of freedom, and for capturing a plurality of images containing the fiducial, and a calibration system for analyzing the plurality of images to determine a fiducial location with respect to the camera to permit calibration of the camera with the programmable motion device.