ROBOTIC VEHICLE WITH AUTOMATIC CAMERA CALIBRATION CAPABILITY

• US 20170303466A1
• Filed: 12/17/2015
• Published: 10/26/2017
• Est. Priority Date: 12/17/2014
• Status: Active Application

• Current Assignee: Husqvarna AB (HUSQVARNA)
• Original Assignee: Husqvarna AB (HUSQVARNA)
• Inventors: Grufman, Stefan, Deimert, Johan
• Application Number:
  US15/531,647
• Publication Number:
  US 20170303466A1
• Time in Patent Office: Days
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: H04N 17/002 for television cameras
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

A method for employing sensors of a robotic vehicle may include capturing a current image of a reference marker via a camera disposed on a robotic vehicle and comparing at least one property of the reference marker in the current image to a corresponding known 5 property. The method may further include determining a current lighting condition classification based on a result of the comparing, and making at least one adjustment to a sensor of a sensor network of the robotic vehicle based on the current lighting condition classification.

Claims

1. A robotic vehicle comprising:

a chassis supporting one or more functional components configured to execute a lawn care function;

a sensor network comprising one or more sensors configured to detect conditions proximate to the robotic vehicle; and

processing circuitry configurable to cause;

capturing a current image of a reference marker via a camera disposed on a robotic vehicle;

comparing at least one property of the reference marker in the current image to a corresponding known property;

determining a current lighting condition classification based on a result of the comparing; and

making at least one adjustment to a sensor of a sensor network of the robotic vehicle based on the current lighting condition classification.

2. The robotic vehicle of claim 1, wherein the processing circuitry being configured to capture the current image comprises the processing circuitry being configured to capture the current image at a reference lighting location.

3. The robotic vehicle of claim 2, wherein the reference marker is disposed on a chassis of the robotic vehicle.

4. The robotic vehicle of claim 2, wherein the reference marker is disposed at a location separated from a chassis of the robotic vehicle.

5. The robotic vehicle of claim 1, wherein the processing circuitry is configured to determine the current lighting condition classification by identifying a reference image among the stored images in which pixels corresponding to the reference marker substantially match corresponding pixels in the current image.

6. The robotic vehicle of claim 1, wherein the processing circuitry is configured to make at least one adjustment to the sensor by adjusting configuration settings of the sensor based on the current lighting condition classification.

7. The robotic vehicle of claim 1, wherein the processing circuitry is configured to make at least one adjustment to the sensor by shutting down the sensor based on the current lighting condition classification.

8. The robotic vehicle of claim 1, wherein the processing circuitry is configured to make at least one adjustment to the sensor by selecting a suite of sensors to employ based on the current lighting condition classification.

9. The robotic vehicle of claim 1, wherein the processing circuitry is configured to make at least one adjustment to the sensor by adjusting camera settings based on real-time feedback.

10. The robotic vehicle of claim 9, wherein adjusting camera settings based on real-time feedback comprises capturing a series of new images and continuing to adjust camera settings until a new image is captured in which reference marker features substantially match reference marker features in a goal image.

11. The robotic vehicle of claim 9, wherein adjusting camera settings based on real-time feedback comprises adjusting camera settings until the at least one property of the reference marker matches the reference property.

12. A method comprising:

capturing a current image of a reference marker via a camera disposed on a robotic vehicle;

comparing at least one property of the reference marker in the current image to a corresponding known property;

determining a current lighting condition classification based on a result of the comparing; and

making at least one adjustment to a sensor of a sensor network of the robotic vehicle based on the current lighting condition classification.

14. The method of claim 12, wherein capturing the current image comprises capturing the current image at a reference lighting location, and

wherein capturing the current image comprises capturing the current image of the reference marker disposed on a chassis of the robotic vehicle.

15. The method of claim 12, wherein capturing the current image comprises capturing the current image at a reference lighting location, and

wherein capturing the current image comprises capturing the current image of the reference marker disposed separated from a chassis of the robotic vehicle.

16. The method of claim 12, wherein determining the current lighting condition classification comprises identifying a reference image among the stored images in which pixels corresponding to the reference marker substantially match corresponding pixels in the current image.

17. The method of claim 12, wherein making at least one adjustment to the sensor comprises adjusting configuration settings of the sensor based on the current lighting condition classification.

18. The method of claim 12, wherein making at least one adjustment to the sensor comprises shutting down the sensor based on the current lighting condition classification.

19. The method of claim 12, wherein making at least one adjustment to the sensor comprises selecting a suite of sensors to employ based on the current lighting condition classification.

21. The method of claim 12, wherein making at least one adjustment to the sensor comprises adjusting camera settings based on real-time feedback, and

wherein adjusting camera settings based on real-time feedback comprises capturing a series of new images and continuing to adjust camera settings until a new image is captured in which reference marker features substantially match reference marker features in a goal image.

22. The method of claim 12, wherein making at least one adjustment to the sensor comprises adjusting camera settings based on real-time feedback, and

wherein adjusting camera settings based on real-time feedback comprises adjusting camera settings until the at least one property of the reference marker matches the reference property.

13. (canceled)

20. (canceled)