公开(公告)号：WO2023278868A1

公开(公告)日：2023-01-05

申请号：PCT/US2022/036006

申请日：2022-07-01

Applicant: SUMMER ROBOTICS, INC.

Inventor： PADEN, Brian, Alexander

IPC: G01B11/00 ,  G01C3/06 ,  G01C25/00 ,  G01C3/02

Abstract: Embodiments are directed to calibrating multi-view triangulation systems that perceive surfaces and objects based on reflections of one or more scanned laser beams that are continuously sensed by two or more sensors. In addition to sampling and triangulating points from a spline formed by an unbroken line trajectory of a laser beam, the calibration system samples and triangulates a corresponding velocity vector. Iterative reduction is performed on velocity vectors instead of points or splines. The velocity vector includes directions and magnitudes along a trajectory of a scanning laser beam which are used to determine the actual velocities. Translation and rotation vectors are based on the velocity vectors for matching trajectories determined for two or more sensors having offset physical positions, which are used to calibrate sensor offset errors associated with the matching trajectories provided to a modeling engine.

公开(公告)号：WO2023288067A1

公开(公告)日：2023-01-19

申请号：PCT/US2022/037299

申请日：2022-07-15

Applicant: SUMMER ROBOTICS, INC.

Inventor： CULLEN, Schuyler, Alexander ,  PADEN, Brian, Alexander

IPC: G01C3/00 ,  G06T7/80

Abstract: Embodiments are directed to parameter adjustment for sensors. A calibration model and a calibration profile for a sensor may be provided. Calibration parameters associated with the sensor may be determined based on the calibration profile. The sensor may be configured to use a value of the calibration parameter based on the calibration profile. Trajectories may be generated based on a stream of events from the sensor. Metrics associated with the sensor events or the trajectories may be determined. If a metric value may be outside of a control range, further actions may be iteratively performed, including: modifying the value of the calibration parameter based on the calibration model; configuring the sensor to use the modified value of the calibration parameter; redetermining the metrics based on additional trajectories; if the metric is within a control range, the iteration may be terminated and the calibration profile may be updated.