公开(公告)号：US20230419546A1

公开(公告)日：2023-12-28

申请号：US18335661

申请日：2023-06-15

Applicant: Boston Dynamics, Inc.

Inventor： Christopher Christopher ,  Dion Gonano

IPC: G06T7/80 ,  G06V10/20 ,  G06T7/70

CPC classification number: G06T7/85 ,  G06V10/255 ,  G06T7/70 ,  G06T2207/30244

Abstract: Methods and apparatus for online camera calibration are provided. The method comprises receiving a first image captured by a first camera of a robot, wherein the first image includes an object having at least one known dimension, receiving a second image captured by a second camera of the robot, wherein the second image includes the object, wherein a field of view of the first camera and a field of view of the second camera at least partially overlap, projecting a plurality of points on the object in the first image to pixel locations in the second image, and determining, based on pixel locations of the plurality of points on the object in second image and the projected plurality of points on the object, a reprojection error.