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Calibration method of correlation between single line laser radar and CCD (Charge Coupled Device) camera

A single-line laser radar and laser radar technology, which is used in radio wave measurement systems, re-radiation of electromagnetic waves, image data processing, etc., can solve problems such as errors, complex mathematics, and unsatisfactory calibration results.

Inactive Publication Date: 2010-11-10
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

First of all, the estimation method is mathematically complicated and has errors; then, the calculation of external parameters is performed by using the estimation results with errors, which makes the accuracy of the calibration results unsatisfactory.

Method used

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  • Calibration method of correlation between single line laser radar and CCD (Charge Coupled Device) camera
  • Calibration method of correlation between single line laser radar and CCD (Charge Coupled Device) camera
  • Calibration method of correlation between single line laser radar and CCD (Charge Coupled Device) camera

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Embodiment Construction

[0045] The present invention will be further described in detail below with reference to the accompanying drawings.

[0046] like figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 As shown, the flow of the method for calibrating the relationship between the single-line laser radar and the CCD camera of the present invention is as follows:

[0047] (1) Data collection:

[0048] 1.1: Fix and turn on the CCD camera and single-line lidar.

[0049] To achieve the calibration of the relative position relationship between the single-line lidar and the CCD camera, firstly, they should be fixed on a processing platform to ensure that the relative position between the two is fixed during the movement of the equipment, so that the calibration results can be used for the follow-up. calculation. After fixing, start the CCD camera and single-line lidar.

[0050] 1.2: Filter out light waves with wavelengths lower than 905nm when the single-line lidar is working;

[0051] Ins...

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Abstract

The invention discloses a calibration method of correlation between a single line laser radar and a CCD (Charge Coupled Device) camera, which is based on the condition that the CCD camera can carry out weak imaging on an infrared light source used by the single line laser radar. The calibration method comprises the steps of: firstly, extracting a virtual control point in a scanning plane under the assistance of a cubic calibration key; and then filtering visible light by using an infrared filter to image infrared light only, carrying out enhancement, binarization treatment and Hough transformation on an infrared image with scanning line information, and extracting two laser scanning lines, wherein the intersection point of the two scanning lines is the image coordinate of the virtual control point in the image. After acquiring multiple groups of corresponding points through the steps, a correlation parameter between the laser radar and the camera can be solved by adopting an optimization method for minimizing a reprojection error. Because the invention acquires the information of the corresponding points directly, the calibration process becomes simpler and the precision is greatly improved with a calibrated angle error smaller than 0.3 degree and a position error smaller than 0.5cm.

Description

technical field [0001] The invention mainly relates to the field of calibration of the relative positional relationship between a visual sensor and other sensors, and particularly relates to the calibration of a single-line laser radar and a CCD camera. Background technique [0002] Single-line lidar can provide accurate and real-time distance information within a certain range (usually 0°-180°) within a single scanning plane. In recent years, single-line LiDAR has been widely used in the field of robotics due to its advantages of small size, reasonable price and high precision, assisting other sensors to complete special tasks. The most commonly used method fixes the camera and single-line lidar on a processing platform (such as a mobile robot), and completes advanced tasks such as navigation and 3D reconstruction through the cooperation of lidar and CCD camera. To effectively fuse the image information of the lidar and the camera, the relative positional relationship betw...

Claims

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Application Information

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IPC IPC(8): G06T7/00G01S17/89
Inventor 杨恒刘肖琳
Owner NAT UNIV OF DEFENSE TECH
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