Granted Patent B2

US 12,190,542 · App. 17/472,978 · Granted Jan 7, 2025

Inventors: Drew Anthony Schena (Portsmouth, NH); Guohua Min (Exeter, NH)

Assignee: Position Imaging, Inc.

G06T7/80G01B11/22G06T2207/10028G06T2207/10152

Abstract

Claims (24)

1. A method of calibrating a light source relative to an optical device, the method comprising the steps of:

virtually projecting by a directional light source an image onto a three-dimensional surface of at least one object, the image comprising a virtual grid comprised of predefined points onto an area having the three-dimensional surface of at least one object, each predefined point of the virtual grid corresponding to one of a plurality of termination points of beams cast by the directional light source, at least one of the termination points of the beams are on a surface of the at least one object;

simultaneously capturing, by at least one optical device, data for a plurality of points on the virtual grid by projecting the image into a field of view of the at least one optical device; and

calibrating the directional light source to the at least one optical device to calculate a location and orientation of the optical device using the captured data for the plurality of points, wherein the at least one optical device includes two optical devices, and wherein the step of calibrating the directional light source to the at least one optical device includes calibrating the directional light source to the two optical devices, then calculating a location and orientation of one of the two optical devices to the other of the two optical devices.

2. The method of claim 1 , further comprising the step of storing in memory, in response to determining that data in the given image is valid, a point of the plurality of points comprised of a pixel location in the given image, the data for the point found in the given image, and row and column data of the predefined point of the virtual grid at which the directional light source aimed when the light source produced the virtual grid, the data point being used to localize and orient the at least one optical device relative to a coordinate system of a gimbal of the directional light source.

3. The method of claim 2 , further comprising the steps of:

determining that the point found in the given image spans a plurality of pixel locations in the given image; and

averaging the spanned plurality of pixel locations to calculate the pixel location of the point in the given image.

4. The method of claim 1 , further comprising applying one or more filters to first and second images captured for each predefined point of the virtual grid at which the light source is aimed before comparing said first and second images.

5. The method of claim 1 wherein the projected image includes a checkerboard projection having corners that include the predefined points of the virtual grid, wherein the method further includes performing a point location measurement process on the corners of the checkerboard projection.

6. The method of claim 1 , further comprising another directional light source, wherein the at least one optical device includes three cameras that communicate with the directional light source and the other directional light source for identifying and tracking the at least one object.

7. The method of claim 6 , wherein relative locations and orientations of the directional light source, the other additional light source, and the three cameras relative to each other are calibrated after which a point cloud representing the at least one object is formed and stitched together from the calibration data of the location relationships of the apparatuses.

8. The method of claim 1 , wherein the at least one optical device includes a first camera and a second camera, and wherein calibrating the directional light source to the at least one optical device to calculate a location and orientation of the optical device comprises calibrating the first directional light source to the first camera and the second camera and determining a position and orientation of the first and second cameras relative to each other by processing the data regarding the position and orientation of the first directional light source relative to the first and second cameras.

9. The method of claim 1 , further comprising calculating a calibration matrix for calibrating the second directional light source to the first camera using a combination of data for calibrating the first directional light source to the first camera and the second camera and data for calibrating the second directional light source to the second camera.

10. A method of calibrating a light source relative to an optical device, the method comprising the steps of:

virtually projecting by a directional light source an image onto a three-dimensional surface of at least one object, the image comprising a virtual grid comprised of predefined points onto an area having the three-dimensional surface of at least one object, each predefined point of the virtual grid corresponding to one of a plurality of termination points of beams cast by the directional light source, at least one of the termination points of the beams are on a surface of the at least one object;

simultaneously capturing, by at least one optical device, data for a plurality of points on the virtual grid by projecting the image into a field of view of the at least one optical device;

calibrating the directional light source to the at least one optical device to calculate a location and orientation of the optical device using the captured data for the plurality of points; and

calculating a calibration matrix for calibrating the second directional light source to the first camera using a combination of data for calibrating the first directional light source to the first camera and the second camera and data for calibrating the second directional light source to the second camera.

11. A method of calibrating a light source relative to an optical device, the method comprising the steps of:

virtually projecting by a directional light source an image onto a three-dimensional surface of at least one object, the image comprising a virtual grid comprised of predefined points onto an area having the three-dimensional surface of at least one object, each predefined point of the virtual grid corresponding to one of a plurality of termination points of beams cast by the directional light source, at least one of the termination points of the beams are on a surface of the at least one object;

simultaneously capturing, by at least one optical device, data for a plurality of points on the virtual grid by projecting the image into a field of view of the at least one optical device;

calibrating the directional light source to the at least one optical device to calculate a location and orientation of the optical device using the captured data for the plurality of points; and

storing in memory, in response to determining that data in the given image is valid, a point of the plurality of points comprised of a pixel location in the given image, the data for the point found in the given image, and row and column data of the predefined point of the virtual grid at which the directional light source aimed when the light source produced the virtual grid, the data point being used to localize and orient the at least one optical device relative to a coordinate system of a gimbal of the directional light source.

Assignments (3)

Continuity (3)

References Cited (400)