3D Perception Scanner Calibration via Ray Intersection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing 3D perception systems face challenges in accurately calibrating scanning 3D perception systems, particularly when multiple laser beams are scanned simultaneously, making it difficult to assign tracks associated with a common reflection from the targeted surface in each camera.
Innovation Solution
The system employs a method to determine the origin point of the beam generator by analyzing the intersections of rays derived from the endpoints of scanned paths across multiple objects, allowing for the calibration of the system based on these intersections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple laser beams are scanned simultaneously over the surface, then scanning speed and productivity are improved, but it becomes difficult to assign tracks associated with a common reflection from the targeted surface in each camera
Solution Approach 1:
The patent introduces calibrated objects with known 3D positions and distinctive patterns as intermediary elements. These objects serve as reference markers that mediate between the multiple laser beams and the camera sensors, enabling unambiguous track assignment by providing known correspondence points that resolve the ambiguity of simultaneous multi-beam reflections.
Solution Approach 2:
The system employs feedback through iterative calibration processes where the known positions of calibrated objects are used to adjust and refine the 3D coordinate transformation parameters. This feedback loop allows the system to correct track assignment errors by comparing expected reflections from known object positions with actual detected reflections, thereby maintaining measurement precision even with multiple simultaneous beams.
2Productivity
If multiple laser beams are scanned simultaneously, then the scanning process is accelerated, but the difficulty to locate the position of each laser scanner increases
Solution Approach 1:
Calibrated objects with known 3D positions serve as intermediary reference points that enable the system to locate scanner positions unambiguously. By detecting reflections from these known positions across multiple cameras and laser beams, the system can triangulate and identify the precise location of each scanner, resolving the localization difficulty introduced by simultaneous multi-beam scanning.
Solution Approach 2:
The system performs preliminary calibration by establishing the 3D positions of reference objects before the actual scanning measurement process. This preliminary action creates a known reference framework that simplifies the subsequent task of locating scanner positions during accelerated multi-beam scanning, as the calibration objects provide pre-determined spatial anchors for localization calculations.
3Measurement precision
If calibrated objects with known 3D positions are used, then the calibration precision is improved, but the device complexity increases
Solution Approach 1:
The patent employs simple calibrated objects with known 3D positions that can be easily manufactured and positioned. These objects serve as disposable calibration references that provide sufficient precision without requiring complex calibration apparatus. The simplicity of these reference objects minimizes the added system complexity while achieving the required calibration accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables precise calibration of the 3D perception system, even with multiple laser beams, by accurately determining the origin point of the beam generator, thereby improving the system's ability to track and locate 3D positions of laser reflections.
Implementation Method 1
A laser scanner may emit one or more laser beams in a given pattern. These beams may be reflected from a targeted surface and imaged by two or more camera-like sensors
Data Source
AI summary
Embodiments are directed to calibrating a system. A plurality of paths may be scanned across a first object and a second object where the first object is between the second object and scanner. A first portion of trajectories that correspond to a first portion of the paths that trace across the first object may be determined. A second portion trajectories that correspond to a second portion of the paths that trace across the second object may be determined. First endpoints of the first portion of the trajectories may be determined and second endpoints of the second portion of the trajectories may be determined. Rays may be determined based on the second endpoints and the first endpoints. An origin point of the beam generator may be determined based on an intersection of the rays. Accordingly, the system may be calibrated based on the origin point of the beam generator.