The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 15, 2019
Filed:
Mar. 17, 2016
Albert-ludwigs-universität Freiburg, Freiburg, DE;
Jörg Röwekämper, Kenzingen, DE;
Michael Ruhnke, Denzlingen, DE;
Bastian Steder, Au im Breisgau, DE;
Gian Diego Tipaldi, Freiburg, DE;
Wolfram Burgard, Denzlingen, DE;
ALBERT-LUDWIGS-UNIVERSITÄT FREIBURG, Freiburg, DE;
Abstract
A method and a system for calibrating a network of multiple range finders are disclosed. In an embodiment, the method includes performing a measurement with the range finders during a movement of an object through an area covered by the network, identifying, for each range finder, data sets of the measurement associated with the moving object, based on a static analysis of the respective range finder, determining, for each pair of overlapping range finders, an estimated relative transformation between respective poses of the pair, based on the identified data sets of the pair, determining an initial maximum likelihood configuration of poses of all of the range finders based on the estimated relative transformations of each pair and iteratively determining sets of point correspondences of the identified data sets and if a distance of the points in the pair is below a threshold, the threshold being redefined decreasingly for each iteration.