A joint calibration method between 360-degree panoramic laser and multiple vision systems

Abstract

The invention provides a joint calibration method between 360-degree panorama laser and multiple visual systems and belongs to the technical field of robot autonomous environment sensing. The method is characterized in that simple black card paper is used as calibration equipment, and simultaneous calibration on the multiple visual systems and the panorama laser is achieved quickly. Based on the black card paper, laser beams irradiated on the surface of the paper have low reflectivity features, by reflected value graph generating, range filtering, binaryzation and point clustering processing, feature points which belong to a calibration device are extracted from collected three-dimensional laser data, noise objects in an environment are filtered out through a plane extraction method, then an iterative optimization method is used for carrying out solving on three-dimensional feature points based on laser data and two-dimensional feature points based on image data, and accordingly a rotating matrix and a horizontally-moving matrix between sensors are obtained. A foundation is laid for multi-sensor information fusion, and the method can be used in the fields such as moving robot scene reconstruction.

Description

technical field [0001] The invention belongs to the technical field of environment perception, relates to data fusion between a three-dimensional laser ranging system and multiple visual systems, and particularly relates to a joint calibration method between the three-dimensional laser ranging system and multiple visual systems. Background technique [0002] In complex scenes, a single sensor cannot meet the task requirements of environment perception and scene understanding. Therefore, data matching and fusion between multiple sensors is a necessary means to improve the performance of environment perception and scene understanding. The joint calibration between multiple sensors is its key step. At present, there are a variety of external parameter calibration methods for 3D laser and monocular vision. The most common method is to use black and white calibration plates to calibrate the external parameters between the 3D laser and the vision system (Joung J H, AnK H, Kang J W...

AI Technical Summary

Problems solved by technology

[0003] The problem to be solved by the present invention is the automatic joint calibration between the three-dimensional laser ranging system and multiple vision systems, and the external parameter calculation of multiple systems can be conveniently realized through only one data collection, which solves the problem of the laser ranging system and the vision system. The limitation that the system cannot be too far away reduces the requirements of the calibration method on the calibration object and the calibration environment, reduces the influence of the edge effect of the laser point on the calibration results, and enhances the practicability and accuracy of the calibration method

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