Sensor to Sensor Calibration

Guide to the calibration process of Sensor with respect to the another Sensor

When dealing with multiple Sensors, sensor-to-sensor calibration is crucial to providing a coherent view of the surroundings, allowing better workspace coverage and fewer shadows.

Benefits of Sensor to Sensor Calibration

Consistency: With synchronized Sensors, your interactions are consistent across devices, allowing you to seamlessly switch between them without any disruption in the virtual environment.

Time Efficiency: This calibration method significantly reduces the time needed for calibration when compared to calibrating each Sensor with the robotic arm individually.

Accuracy Enhancement: The unified reference frame ensures that the tracking data from each Sensor is interpreted accurately, resulting in improved precision and realism.

Flexible Setup: As you expand your setup to include more devices, the Sensor to Sensor Calibration process scales effortlessly, accommodating your evolving needs.

Steps in Calibration Process

Follow the steps given below for Sensor to Sensor Calibration Guide:

1. Before starting, ensure both Sensors are correctly set up and you have the Charuco Board handy as per the previous instructions.

2. Let's call the Sensor that will be calibrated S(i) and the point of reference Sensor S(f).

3. Now place the Charuco Board on a flat surface so it is visible and less than 1.5 meters away from both Sensors.

We recommend the viewing area of Sensors to overlap to get the best real-time point-data reconstruction in the application.

1. Click the Configuration tab in the wrist panel.

2. Click on the dropdown button next to the Cortex button, which will open Robots and Sensors buttons.

3. Press on the Sensors button, which will open the Active Sensors panel

4. Select the entry of S(i) in the list of active sensors, this will open the Modify Sensor panel.

5. In Modify Sensor panel click on Calibrate button located at the bottom of the right-hand side panel.

6. This should open the options of three buttons, asking you to select the calibration type. Click on Sensor to Sensor button.

7. Now select the S(f).

All the other sensor feeds except feeds from S(i) and S(f) will get disabled to help the operator to focus on the feed from the sensors which is getting calibrated and removes confusions from the feeds of other cameras.

1. This will open the Sensor to Sensor calibration panel having buttons: Calibrate,Offset +, Offset -, Save and Cancel.

2. Click on the Calibrate button. As long as the Charuco board is in view of both cameras, the cameras should now be calibrated.

The positional error of the Calibration may be there, which can be fine-tuned using the Offset + and Offset - buttons. Furthermore, it can also be fine-tuned using Manual Calibration.