公开(公告)号：US20240095957A1

公开(公告)日：2024-03-21

申请号：US18254182

申请日：2020-12-25

Applicant: Intel Corporation

Inventor： Xuesong SHI ,  Yujie WANG ,  Zhigang WANG ,  Peng WANG ,  Robert WATTS

IPC: G06T7/80 ,  G06T7/33 ,  G06T7/73

CPC classification number: G06T7/80 ,  G06T7/33 ,  G06T7/73 ,  G06T2207/30208 ,  G06T2207/30232

Abstract: The disclosure provides techniques for registering a camera into a map via a robot. A method for registering a camera into a map may include: collecting an observation of a calibration marker from an image captured by the camera, the calibration maker being attached to a robot capable of moving in a view of the camera; calculating, for the observation of the calibration marker, a transform T (camera, marker) between a camera frame of the camera and a marker frame of the calibration marker; obtaining, for the observation of the calibration marker, a transform T (world, robot) between a world frame of the map and a robot frame of the robot; and performing, when more than a predetermined number of observations of the calibration marker are collected during movement of the robot, a calibration process to calculate a transform T(world, camera) between the world frame and the camera frame based on the transform T (camera, marker) and the transform T(world, robot) for each observation of the calibration marker.