Robot Sensor Calibration with Fixed Multi-Target Reference Layout
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Solution Overview
Problem
Current robotic sensor calibration methods are inefficient and time-consuming, particularly for robots with multiple sensors, as they require individual calibration and extensive measurements across various positions, making it challenging to calibrate multiple sensors quickly and accurately.
Innovation Solution
A system and method that utilize a fixed calibration environment with multiple sensor targets at known distances, allowing robots to capture data and compare it to reference data to determine transformations for each sensor, enabling simultaneous calibration of multiple sensors without repositioning targets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If individual calibration is performed for each sensor using traditional methods, then calibration accuracy can be achieved, but the calibration process becomes extremely time-consuming and inefficient
Solution Approach 1:
The patent merges multiple sensor calibrations into a single unified calibration process. By positioning multiple sensors to simultaneously view the same calibration target, the system performs calibration for all sensors at once rather than individually, dramatically reducing total calibration time while maintaining accuracy through comparative analysis of sensor readings
Solution Approach 2:
The patent implements preliminary action by pre-positioning calibration targets at specific locations and configuring sensors to face them before calibration begins. The robot is also pre-positioned in a fixed location, eliminating the need for dynamic movement during calibration and allowing the process to proceed efficiently from a prepared state
2Reliability
If multiple target objects are positioned around the robot for LIDAR sensor calibration, then comprehensive sensor coverage is achieved, but the complexity of the calibration process increases significantly
Solution Approach 1:
The calibration target is designed with multi-functionality, serving as a reference object for multiple different sensor types simultaneously. The same target can be used for LIDAR, cameras, and other sensors, eliminating the need for separate calibration procedures for each sensor type and reducing overall process complexity
Solution Approach 2:
Instead of moving the robot to different positions to calibrate different sensors, the patent inverts the approach by keeping the robot fixed and using multiple stationary sensors pointing at a central target. This reversal simplifies the calibration process by eliminating complex positioning requirements
3Measurement precision
If the robot is repositioned multiple times during calibration to capture data from different angles, then thorough calibration coverage is achieved, but the calibration efficiency decreases
Solution Approach 1:
The patent implements preliminary action by pre-positioning multiple sensors at different locations and orientations before calibration begins. Each sensor is configured to view the calibration target from its specific angle, eliminating the need for the robot to move during calibration while still achieving comprehensive coverage through the pre-arranged sensor array
Solution Approach 2:
The system uses multiple copies of sensors positioned around the target, each capturing data from its specific viewpoint. This array of sensor copies simultaneously provides comprehensive calibration coverage without requiring the robot to physically relocate, maintaining both precision and efficiency
Data Source
AI summary
Systems and methods for calibrating sensors of a robot are disclosed. In one exemplary implementation, an environment comprising a plurality of sensor targets and a fixed position for a robot allows for faster, more accurate calibration of a robot's sensors.