Robot Depth Camera Pose Calibration Using Ground Plane Point Clouds
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Solution Overview
Problem
Current methods for calibrating the pose of a depth camera on a robot for obstacle avoidance are plagued by low accuracy and efficiency due to installation and measurement errors, particularly when using a specially made calibration board.
Innovation Solution
A pose calibration method that uses a depth camera to obtain a depth image and convert it into point cloud data, employing a preset optimization method to calibrate the pitch angle, roll angle, and height of the depth camera within the robot coordinate system, thereby improving calibration accuracy and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a specially made calibration board (such as a board with black/white squares) is used to perform pose calibration of the depth camera, then the calibration can be performed, but the accuracy and efficiency of the calibration will be low due to installation and measurement errors
Solution Approach 1:
The patent extracts the essential calibration target from complex physical calibration boards and reduces it to simple ground plane features. Instead of using specially made calibration boards with black/white squares, the method uses naturally occurring ground plane characteristics (edges, corners, lines) as calibration targets, eliminating the need for complex calibration equipment while maintaining calibration capability
Solution Approach 2:
The ground plane serves multiple functions: it acts as both the operating surface for the robot and the calibration target for the depth camera. This universal use of the ground plane eliminates the need for separate calibration boards, reducing device complexity while enabling pose calibration through readily available environmental features
2Productivity
If a specially made calibration board is used for pose calibration, then calibration can be performed, but the calibration efficiency will be low
Solution Approach 1:
The method performs preliminary identification of ground plane features (edges, corners, lines) directly from the depth image without requiring physical calibration boards to be set up beforehand. The ground plane features are naturally present and can be immediately processed, eliminating the time-consuming setup and positioning steps associated with traditional calibration boards
Solution Approach 2:
The ground plane automatically provides calibration features without requiring external calibration equipment. The depth camera itself captures the ground plane, and the system automatically identifies calibration features from the captured image, making the calibration process self-contained and eliminating the need for separate calibration equipment setup and operation
Data Source
AI summary
A pose calibration method, a robot, and a computer readable storage medium are provided. The method includes: obtaining, through a depth camera on a robot, a depth image including a target plane (i.e., a plane where the robot is located); determining point cloud data corresponding to the depth image; and calibrating a target pose of the depth camera based on the point cloud data and a preset optimization method, that is, calibrating a pitch angle and a roll angle of the depth camera and a height of the depth camera in a coordinate system of the robot. In this manner, the accuracy of the calibration of the target pose can be effectively improved while simple in implementation and small in calculation amount, and the efficiency of the calibration of the target pose can be improved so as to improve the user experience.