Amazon patents robot cameras that self-correct using fixed patterns

1. A robotic system comprising: a robotic arm disposed in a closed environment; a picking assembly coupled to the robotic arm, the picking assembly configured to grasp and release objects; a first calibration plate rigidly mounted at a first location in the closed environment, the first calibration plate having a first pattern disposed thereon; a second calibration plate rigidly mounted at a second location in the closed environment, the second calibration plate having a second pattern disposed thereon; a first camera oriented towards the robotic arm at a downwards angle relative to horizontal, wherein at least the first calibration plate or the second calibration plate is within a field of view of the first camera; a second camera oriented towards the robotic arm at an upwards angle relative to horizontal, wherein at least the first calibration plate or the second calibration plate is within a field of view of the second camera; and a controller configured to: determine a first image of the first calibration pattern; determine, using the first image, a first calibration metric; determine that a difference between the first calibration metric and a default value is greater than or equal to a first threshold amount; cause a calibration process to be initiated; cause the robotic manipulator to move to a first predetermined position; determine first position data associated with a pose of the robotic manipulator at the first predetermined position; determine, using the first camera, a second image of the first calibration pattern when the robotic manipulator is at the first predetermined position; and determine a first calibration adjustment based at least in part on the first position data and the second image.