Zebra Technologies Corporation
On-Site Calibration for Mobile Automation Apparatus

Abstract:

A calibration method for a mobile automation apparatus includes: navigating the apparatus to a calibration location containing a reflector; controlling a camera of the apparatus to capture an image depicting a first set of markers affixed to the reflector in first predetermined positions defining a reflector frame of reference, and virtual images of a second set of markers mounted on a chassis of the apparatus in second predetermined positions defining a chassis frame of reference, and reflected in the reflector; detecting respective image positions of each marker from the first and second sets of markers; based on the image positions of the first and second set of markers, the first predetermined positions, and the second predetermined positions, determining calibration parameters configured to convert between coordinates in a camera frame of reference and coordinates in the chassis frame of reference; and updating calibration data of the camera with the calibration parameters.