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Automatic calibration method between three-dimensional laser and monocular vision

A three-dimensional laser and monocular vision technology, which is applied in the direction of line-of-sight measurement, measuring devices, instruments, etc.

Inactive Publication Date: 2010-04-28
DALIAN UNIV OF TECH
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Problems solved by technology

[0003] The problem to be solved by the present invention is to provide a method for automatically extracting feature matching pairs in 3D laser data and monocular vision image data, to realize automatic calibration between 3D laser and monocular vision, and to solve the problems caused by manually selecting matching pairs. The problem of uncontrollable human error and large time overhead improves the accuracy of matching pair extraction

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[0059] The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.

[0060] In order to verify the effectiveness of this method, the use of Figure 10 The constructed device was used for validation of the calibration method. SICK LMS 291 laser sensor is adopted, the plane scanning angle is 0-180 degrees, and the longitudinal range is dynamically adjustable, divided into 8 meters, 16 meters, 32 meters (distance resolution is 1 mm), 80 meters (distance resolution is 1 cm) four scanning ranges, the scanning range of 32 meters is used here. The gimbal motor has optional rotation angle resolutions, including: 0.192°, 0.288°, 0.480° and 0.960°. Here, 0.192° is selected, the starting angle is 30°, and the scanning range is 30°-130°. Use the motor to drive the laser sensor to obtain the three-dimensional laser ranging data of the scene. The size of the calibration device adopts a 4×5 bla...

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Abstract

The invention belongs to the technical field of autonomous environment sensing of robots and relates to an automatic calibration method between three-dimensional laser and monocular vision. The method is characterized in that the automatic combined calibration between the three-dimensional laser and the monocular vision can be completed through a designed calibration device. The process of extracting laser data feature corners can be divided into two stages of detection and correction. The mapping association of original three-dimensional laser data with a distance measurement data matrix after binarization and the statistical analysis are carried out during the detection stage; and the matching through a standard template constituted by black and white corners in a calibration plate is carried out during the correction stage, thereby improving the corner extraction precision and further adopting the iterative optimization method for solution. The automatic calibration method has the beneficial effects of effectively reducing the noise and the affects of an incident angle on laser distance measurement data, and the calibration process realizes the automation and the integration of the extraction and the matching of laser-vision data feature corners, thereby laying a foundation for multi-sensor information fusion.

Description

technical field [0001] The invention belongs to the technical field of autonomous environment perception of robots, relates to information fusion between a three-dimensional laser ranging system and a visual sensor, and in particular relates to an automatic calibration method between a three-dimensional laser and monocular vision. Background technique [0002] Robotic systems working in complex scenes cannot effectively complete autonomous environment perception and work scene understanding by relying on a single sensor. Information fusion between different types of sensors is an essential means to improve the robot's environmental understanding and cognitive performance, and the calibration of multiple sensors is an important part of it. Most of the previous calibration work was aimed at the calibration between the visual sensor and the two-dimensional laser sensor (Zhang Q L, Pless R. Extrinsic Calibration of a Camera and Laser Range Finder IEEE International Conference on...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00G01C3/00
Inventor 庄严王伟陈东杨生鹏
Owner DALIAN UNIV OF TECH
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