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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

Inactive Publication Date: 2011-02-02
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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  • Automatic calibration method between three-dimensional laser and monocular vision
  • Automatic calibration method between three-dimensional laser and monocular vision
  • Automatic calibration method between three-dimensional laser and monocular vision

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Embodiment

[0021] 1. Analysis of laser sensor characteristics and design of calibration device

[0022] Different media have different reflectivity to the laser beam emitted by the laser sensor, among which the reflectivity of glossy objects is higher than that of matte objects, and the impact of different incident angles on distance measurement is also very significant, but the surface color of the target object has a great influence on the distance measurement. The distance has little effect. According to the above laser characteristics, a three-dimensional laser and vision integrated calibration device (such as figure 1 As shown), the material of the device is glossy photo paper to ensure a high reflectivity to the laser. Print a 4×5 square black and white grid on the surface of the photo paper, and the side length of each black and white grid is 25cm. Carry out a hollow in the center of each black and white grid, and the shape of the hollow is a circle with a radius of 5cm. After ...

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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.

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 Patents(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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