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A Method of Determining Extrinsic Parameters Between Camera and LiDAR

A laser radar and external parameter technology, applied in the field of unmanned vehicles, can solve the problems of constraints and low accuracy of calibration results, and achieve the effect of improving accuracy

Active Publication Date: 2020-03-31
FAFA AUTOMOBILE (CHINA) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The present invention provides a method for determining the external parameters between the camera and the laser radar, so as to solve the calibration scheme of the external parameters of the camera and the laser radar existing in the prior art, which is restricted by the existing measurement technology and other objective factors , the accuracy of the final calibration result is not high

Method used

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  • A Method of Determining Extrinsic Parameters Between Camera and LiDAR
  • A Method of Determining Extrinsic Parameters Between Camera and LiDAR
  • A Method of Determining Extrinsic Parameters Between Camera and LiDAR

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Embodiment 1

[0026] refer to figure 1 , shows a flowchart of steps of a method for determining extrinsic parameters between a camera and a lidar according to Embodiment 1 of the present invention.

[0027] The method for determining the external parameters between the camera and the laser radar in the embodiment of the present invention includes the following steps:

[0028] Step 101: Set multiple AprilTags with different IDs on each corner of the polygonal calibration board.

[0029] The polygonal calibration plate can be in any suitable shape such as rhombus, rectangle, triangle, etc. The specific shape of the calibration plate is not limited in the embodiment of the present invention.

[0030] AprilTag is a tag similar to a QR code invented by a professor in the United States. The ID here can be understood as codes of different models. In the specific implementation process, the number of AprilTags is related to the number of corners contained in the polygon; when setting, AprilTag c...

Embodiment 2

[0042] refer to figure 2 , shows a flow chart of steps of a method for determining the extrinsic parameters between the camera and the lidar according to Embodiment 2 of the present invention.

[0043] The method for determining the external parameters between the camera and the laser radar in the embodiment of the present invention includes the following steps:

[0044] Step 201: Set multiple AprilTags with different IDs on each corner of the polygonal calibration board.

[0045] Each side of the polygonal calibration board has an included angle with the scanning direction of the lidar; for each AprilTag, the direction of the corner of the AprilTag is consistent with the direction of the corresponding corner of the AprilTag; the color of the polygonal calibration board is pure white to facilitate the reflection of the laser radar laser.

[0046] In the embodiment of the present invention, taking the polygonal calibration plate as a rhombus and the number of AprilTags as fo...

Embodiment 3

[0077] refer to image 3 , shows a schematic structural diagram of an apparatus for determining an extrinsic parameter between a camera and a lidar according to Embodiment 3 of the present invention.

[0078] The device for determining the external parameters between the camera and the laser radar according to the embodiment of the present invention includes:

[0079] The calibration board module 301 is used to set multiple AprilTags with different IDs on each corner of the polygonal calibration board.

[0080] The first corner point obtaining module 302 is configured to obtain the position coordinates of each first corner point detected by the camera, wherein the first corner point position coordinates are obtained by the camera by detecting each AprilTag.

[0081] The second corner point obtaining module 303 is configured to obtain the position coordinates of each second corner point, wherein the second corner point position coordinates are the corner point coordinates of t...

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Abstract

The invention provides a method of determining external parameter between camera and laser radar, comprising the steps of respectively arranging a plurality of AprilTags having different IDs at different corners of a polygon-shaped scaling board; obtaining each first corner point position coordinate detected by the camera, wherein each first corner point position coordinate can be obtained by thecamera through detecting each AprilTag; obtaining each second corner point position coordinate, wherein each second corner point position coordinate is the corner point coordinate of each corner of the polygon-shaped scaling board; determining the outer parameter between the camera and the laser radar based on the obtained first corner point position coordinates and the obtained second corner point position coordinates. The invention is advantageous in that the accuracy of the determined calibrating result can be increased.

Description

technical field [0001] The invention relates to the field of unmanned vehicles, and specifically designs a method for determining external parameters between a camera and a laser radar. Background technique [0002] With the continuous advancement of unmanned vehicle technology, the types of sensors mounted on the vehicle are gradually increasing. The most common ones are cameras and laser radars used for unmanned vehicle perception and positioning. Through laser radar scanning, the three-dimensional position of objects can be obtained, and the pictures captured by the camera can be used to obtain the two-dimensional position and color of objects. It is very important during the driving process of the car. At the same time, we are required to calibrate the position and direction relationship between the lidar and the camera, in order to accurately integrate the data information obtained by the two into a coordinate system. [0003] There are two main methods currently used ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 不公告发明人
Owner FAFA AUTOMOBILE (CHINA) CO LTD