Optimizing calibration with constraints between different coordinate frames

摘要: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for calibrating a robotic workcell. One of the methods includes obtaining an initial model of a workcell having a plurality of calibration entities including a plurality of robots and a plurality of sensors configured to observe movements by one or more calibration entities. executing a calibration program that generates movement data representing movements by the plurality of robots. A plurality of different constraint pairs are generated from sensor data, the constraint pairs specifying a relationship between poses of calibration entities that are observed in different coordinate frames each defined by a calibration entity and is represented in the sensor data. One or more optimization processes are performed on the plurality of different constraint pairs to generate a plurality of calibration values.