公开(公告)号：US20200306975A1

公开(公告)日：2020-10-01

申请号：US16732832

申请日：2020-01-02

Applicant: MUJIN, INC.

Inventor： Russell ISLAM ,  Xutao YE ,  Rosen DIANKOV

IPC: B25J9/16 ,  G06T7/80

Abstract: A robot control system and a method for camera calibration verification is presented. The robot control system is configured to perform a first camera calibration, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second camera calibration if the threshold is exceeded.

公开(公告)号：US20250135649A1

公开(公告)日：2025-05-01

申请号：US19004606

申请日：2024-12-30

Applicant: MUJIN, INC.

Inventor： Russell ISLAM ,  Xutao YE ,  Rosen DIANKOV

IPC: B25J9/16 ,  G06T7/80

Abstract: A robot control system and a method for updating camera calibration is presented. The method comprises the robot control system performing a first camera calibration to determine camera calibration information, and outputting a first movement command based on the camera calibration information for a robot operation. The method further comprises outputting, after the first camera calibration, a second movement command to move a calibration pattern within a camera field of view, receiving one or more calibration images, and adding the one or more calibration images to a captured image set. The method further comprises performing a second camera calibration based on calibration images in the captured image set to determine updated camera calibration information, determining whether a deviation between the camera calibration information and the updated camera calibration information exceeds a defined threshold, and outputting a notification signal if the deviation exceeds the defined threshold.

公开(公告)号：US20210312664A1

公开(公告)日：2021-10-07

申请号：US17350006

申请日：2021-06-17

Applicant: MUJIN, INC.

Inventor： Russell ISLAM ,  Xutao YE

IPC: G06T7/80 ,  G06T7/73 ,  H04N13/246

Abstract: A system and method for performing automatic camera calibration is presented. The system communicates with a first camera and a second camera, wherein a transparent platform is disposed between the two cameras. When a 3D calibration pattern is disposed on the platform, the system receives a first set of calibration images from the first camera, and a second set of calibration images from the second camera. The system determines, based on the first set of calibration images, a first set of coordinates for corners of the polyhedron. The system further determines, based on the second set of calibration images, a second set of coordinates for the corners. The system determines, based on the coordinates, a spatial relationship between the first camera and the second camera. The system further uses a description of the spatial relationship to generate a 3D model of an object other than the 3D calibration pattern.

公开(公告)号：US20210114222A1

公开(公告)日：2021-04-22

申请号：US17135261

申请日：2020-12-28

Applicant: MUJIN, INC.

Inventor： Russell ISLAM ,  Xutao YE ,  Rosen DIANKOV

IPC: B25J9/16 ,  G06T7/80

Abstract: A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.

公开(公告)号：US20200324414A1

公开(公告)日：2020-10-15

申请号：US16749365

申请日：2020-01-22

Applicant: MUJIN, INC.

Inventor： Russell ISLAM ,  Xutao YE ,  Rosen DIANKOV

IPC: B25J9/16 ,  G06T7/80

Abstract: A robot control system and a method for updating camera calibration is presented. The method comprises the robot control system performing a first camera calibration to determine camera calibration information, and outputting a first movement command based on the camera calibration information for a robot operation. The method further comprises outputting, after the first camera calibration, a second movement command to move a calibration pattern within a camera field of view, receiving one or more calibration images, and adding the one or more calibration images to a captured image set. The method further comprises performing a second camera calibration based on calibration images in the captured image set to determine updated camera calibration information, determining whether a deviation between the camera calibration information and the updated camera calibration information exceeds a defined threshold, and outputting a notification signal if the deviation exceeds the defined threshold.