Automatic calibration method between three-dimensional laser and monocular vision

A three-dimensional laser and monocular vision technology, applied in the direction of line-of-sight measurement, measuring devices, instruments, etc., to achieve the effect of ensuring intuitive rendering, easy to carry and apply, and simple and reasonable design
CN101698303BInactive Publication Date: 2011-02-02DALIAN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
DALIAN UNIV OF TECH
Publication Date
2011-02-02
Estimated Expiration
Not applicable Β· inactive patent

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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 ofthe extraction and the matching of laser-vision data feature corners, thereby laying a foundation for multi-sensor information fusion.
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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...

Claims

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