SYSTEMS AND METHODS FOR IMAGE CAPTURE DEVICE CALIBRATION FOR A MATERIALS HANDLING VEHICLE
First Claim
1. A system for calibrating an image capture device for a materials handling vehicle comprising the image capture device and a vehicle computing device, wherein:
- the vehicle computing device stores logic that when executed by a processor, causes the materials handling vehicle to perform at least the following;
determine a current location of the materials handling vehicle in a warehouse;
determine a seed value associated with the image capture device, the seed value representing initial calibration parameters of the image capture device;
capture image data in the warehouse, the image data including a location identifier that is representative of a location in the warehouse;
compare the image data with a site map, the site map representing imagery and location data of a ceiling in the warehouse;
determine a calibrated value for the image capture device from the comparison and the seed value; and
apply the calibrated value for determining a new location of the materials handling vehicle.
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Abstract
Systems and methods for calibrating an image capture device for a materials handling vehicle. One embodiment of a system includes the image capture device and a vehicle computing device, where the vehicle computing device stores logic that when executed by a processor, causes the materials handling vehicle to determine a current location of the materials handling vehicle in a warehouse and determine a seed value associated with the image capture device, the seed value representing initial calibration parameters of the image capture device. In some embodiments, the logic causes the materials handling vehicle to capture image data in the warehouse, compare the image data with a site map, and determine a calibrated value for the image capture device from the comparison and the seed value.
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Citations
19 Claims
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1. A system for calibrating an image capture device for a materials handling vehicle comprising the image capture device and a vehicle computing device, wherein:
the vehicle computing device stores logic that when executed by a processor, causes the materials handling vehicle to perform at least the following; determine a current location of the materials handling vehicle in a warehouse; determine a seed value associated with the image capture device, the seed value representing initial calibration parameters of the image capture device; capture image data in the warehouse, the image data including a location identifier that is representative of a location in the warehouse; compare the image data with a site map, the site map representing imagery and location data of a ceiling in the warehouse; determine a calibrated value for the image capture device from the comparison and the seed value; and apply the calibrated value for determining a new location of the materials handling vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A materials handling vehicle comprising an image capture device and a vehicle computing device, wherein:
the vehicle computing device stores logic that when executed by a processor, causes the materials handling vehicle to perform at least the following; determine a current location of the materials handling vehicle; determine a seed value associated with the image capture device, the seed value representing initial calibration parameters of the image capture device; capture image data in a warehouse, the image data including a location identifier that is representative of a location in the warehouse; communicate with a remote computing device to compare the image data with a site map and create an optimization problem, the optimization problem being created via a communication with a mapping library, the site map representing imagery and location data of a ceiling in the warehouse; determine a calibrated value for the image capture device from an output of the optimization problem; and apply the calibrated value for determining a new location of the materials handling vehicle. - View Dependent Claims (15, 16, 17, 18)
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19. A method for calibrating an image capture device for a materials handling vehicle comprising:
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determining a current location of the materials handling vehicle; estimating a seed value associated with the image capture device, wherein the seed value includes data related to at least one of the following;
pitch of the image capture device, roll of the image capture device, and yaw of the image capture device;capturing image data in an environment, wherein the image data includes a location identifier that is representative of a location in a warehouse; communicating with a remote computing device to compare the image data with a site map to create an optimization problem, wherein the remote computing device utilizes a smoothing and mapping (SAM) library for creating the optimization problem; determining a calibrated value for the image capture device from the comparison and the seed value; computing a calibration confidence related to accuracy of the calibrated value for the image capture device, wherein the calibration confidence is representative an accuracy of the calibrated value based on a comparison of the image data with the site map; determining whether the calibration confidence meets a predetermined threshold; in response to determining that the calibration confidence does not meet the predetermined threshold, providing an instruction to restart calibration; and in response to determining that the calibration confidence does meet the predetermined threshold, applying the calibrated value for determining a new location of the materials handling vehicle.
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Specification