Vehicle-mounted panorama camera based on POS (position and orientation system) and external parameter calibrating method of linear array laser scanner

Abstract

The invention discloses a vehicle-mounted panorama camera based on a POS (position and orientation system) and an external parameter calibrating method of a linear array laser scanner. The external parameter calibrating method comprises the following steps: (1) establishing an outdoor calibrating field with absolute coordinate points in advance, wherein data acquisition is performed in the field, time for obtaining each group of panorama images and each laser-point cloud is obtained according to time information after acquisition, and the position and attitude information of the POS in each moment is obtained according to the high-density position and attitude information obtained by the POS; (2) resolving external parameters of the panorama camera; (3) resolving external parameters of the linear array laser scanner. The external parameter calibrating method has the beneficial effects that when a linear array laser sensor is calibrated, a large quantity of feature points do not need to be measured in advance, and only repeatable measurement features of the images are utilized, so as to reduce the workload to the minimum. More importantly, the panorama images determined by an algorithm principle and the point cloud scanned by a linear array laser can be accurately rectified after calibration.

Description

technical field [0001] The invention relates to an external parameter calibration method for a vehicle-mounted panoramic camera and a linear laser scanner based on a POS system, which can be used to establish the spatial relationship between a three-dimensional laser point cloud and a panoramic image, and belongs to the technical field of sensor calibration methods. Background technique [0002] The panoramic image shot by the panoramic camera can provide a viewing range of 360 degrees in the horizontal plane and 180 degrees in the vertical direction. It is an image acquisition method that can obtain the maximum photo information in a single position. [0003] Due to its own radiation characteristics, the linear array laser scanner makes it very difficult to calibrate it statically relative to the external parameters of other reference frames. In most cases, it has to rely on sophisticated and expensive electronic turntables and huge experiments. Calibration is carried out i...

AI Technical Summary

Problems solved by technology

[0005] The problem to be solved by the present invention is to provide a kind of extrinsic parameters of a vehicle-mounted panoramic camera and a linear laser scanner based on a POS system for the current panoramic camera and a linear laser scanner that require expensive equipment and instruments when they are calibrated in conjunction with a POS system. Calibration method

Images