Patent ID: 11927438
Assignee: THE BOEING COMPANY
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 13:
14. A non-transitory computer readable medium having stored thereon instructions, that when executed by one or more processors of a computing device, cause the computing device to perform operations comprising:
receiving, from one or more cameras, a set of images of fiducial markers, wherein each image is acquired by the one or more cameras at a different camera pose of a plurality of camera poses, wherein the fiducial markers comprise (i) one or more first fiducial markers coupled at one or more unknown fixed locations on a workpiece and (ii) a plurality of calibration fiducial markers disposed at a plurality of known locations on the workpiece in a temporary manner, wherein each first fiducial marker displays a first type of machine-readable label and each calibration fiducial marker displays a second type of machine-readable label, and wherein the plurality of known locations are based on a three-dimensional (3D) model of the workpiece;
estimating poses of the fiducial markers based on detecting the one or more first fiducial markers and the plurality of calibration fiducial markers, wherein for each image of the set of images, a pose of each fiducial marker that is visible in the image is estimated relative to the one or more cameras;
formulating a pose graph comprising (i) nodes for the set of images and for the fiducial markers, (ii) the poses estimated for the fiducial markers, (iii) the plurality of calibration fiducial markers as landmarks with known poses, and (iv) a set of constraints between the set of images and the plurality of calibration fiducial markers; and
solving the pose graph to determine poses of the one or more first fiducial markers relative to the work piece that satisfy the set of constraints.