Patent attributes
A method and system for calibration of an augmented reality (AR) device's position and orientation based on a robot's positional configuration. A conventional visual calibration target is not required for AR device calibration. Instead, the robot itself, in any pose, is used as a three dimensional (3D) calibration target. The AR system is provided with a CAD model of the entire robot to use as a reference frame, and 3D models of the individual robot arms are combined into a single object model based on joint positions known from the robot controller. The 3D surface model of the entire robot in the current pose is then used for visual calibration of the AR system by analyzing images from the AR device camera in comparison to the surface model of the robot in the current pose. The technique is applicable to initial AR device calibration and to ongoing device tracking.
