Multi-line laser radar and multi-path camera mixed calibration method

Abstract

The invention discloses a multi-line laser radar and multi-path camera mixed calibration method. The method comprises the following steps of S1, collecting the original image data of a multi-path camera, the point cloud data of a multi-line laser radar and the point cloud data of a static laser radar; S2, solving an internal reference model of each camera; S3, subjecting images acquired by each camera to de-distortion treatment and obtaining corrected images; S4, registering the point cloud data of the static laser radar into the point cloud coordinate system of the multi-line laser radar; S5, acquiring the position (Xs,Ys,Zs) of each camera in the point cloud coordinate system of the multi-line laser radar in the point cloud data which are well registered in the step S4; S6, selecting the pixel coordinates (u,v) of at least four target objects in the corrected images of each camera and the corresponding three-dimensional coordinates (Xp,Yp,Zp) of the target objects in the point cloud with the multi-line laser radar as an coordinate origin; S7, according to the internal reference model of each camera, the position (Xs,Ys,Zs) of each camera, the pixel coordinates (u,v) of target objects corresponding to the camera, and the corresponding three-dimensional coordinates (Xp,Yp,Zp), establishing a collinear equation. In this way, the attitude angle elements of each camera and the cosines of the camera in nine directions can be figured out. Therefore, the calibration is completed.

Description

technical field [0001] The invention relates to the technical field of calibration, in particular to a hybrid calibration method of a multi-line laser radar and a multi-channel camera. Background technique [0002] Lidar detects the position of objects by emitting laser light and receiving reflected laser light. In order to improve the detection range and accuracy of lidar, people have further studied and obtained multi-line lidar on the basis of single-line lidar. Multi-line laser radar means that it can emit and receive multiple laser beams at the same time, and when scanning, multiple concentric scanning lines can be obtained. [0003] In the application of 3D reconstruction based on multi-line lidar scanning, data fusion based on multi-line lidar and multi-channel cameras can capture more 3D details of the environment and improve spatial data for further processing. In the system, both the multi-line laser radar and the multi-channel camera have their own local coordina...

AI Technical Summary

Problems solved by technology

Due to the sparse point cloud data collected by lidar and the unknown internal parameters of multi-channel cameras, calibration is difficult. At present, the

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