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AUTOMATIC IN-SITU REGISTRATION AND CALIBRATION OF ROBOTIC ARM/SENSOR/WORKSPACE SYSTEM
AUTOMATIC IN-SITU REGISTRATION AND CALIBRATION OF ROBOTIC ARM/SENSOR/WORKSPACE SYSTEM
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机译:机器人手臂/传感器/工作空间系统的自动原位配准和校准
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摘要
Various technologies described herein pertain to automatic in-situ calibration and registration of a depth sensor and a robotic arm, where the depth sensor and the robotic arm operate in a workspace. The robotic arm can include an end effector. A non-parametric technique for registration between the depth sensor and the robotic arm can be implemented. The registration technique can utilize a sparse sampling of the workspace (e.g., collected during calibration or recalibration). A point cloud can be formed over calibration points and interpolation can be performed within the point cloud to map coordinates in a sensor coordinate frame to coordinates in an arm coordinate frame. Such technique can automatically incorporate intrinsic sensor parameters into transformations between the depth sensor and the robotic arm. Accordingly, an explicit model of intrinsics or biases of the depth sensor need not be utilized.
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