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Calibration device based on laser radar and camera fusion as well as calibration method thereof

A laser radar and calibration device technology, applied in the field of intelligent vehicle environment perception, can solve the problems of discrete and discontinuous scanning points, difficulty in determining the position of scanning points, cumbersome calibration process, etc., and achieve the effect of simple structure

Pending Publication Date: 2018-09-21
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It solves the shortcomings that a single sensor cannot accurately and completely obtain environmental information, and overcomes a series of difficulties such as difficulty in determining the position of the scanning point, cumbersome calibration process, and discrete and discontinuous scanning points

Method used

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  • Calibration device based on laser radar and camera fusion as well as calibration method thereof
  • Calibration device based on laser radar and camera fusion as well as calibration method thereof
  • Calibration device based on laser radar and camera fusion as well as calibration method thereof

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Embodiment Construction

[0053] refer to figure 1, a calibration system based on the fusion of laser radar and camera, the system includes a calibration device 1 , a camera 2 , a communication bus 3 , a laser radar 4 , a central processing unit 5 and a vehicle 6 . Place the vehicle 6 and the calibration device 1 on a wide level ground, and the calibration device 1 is located at a suitable distance directly in front of the vehicle 6 to ensure that the front compartment of the engine does not interfere with the calibration information collected by the camera 2 and the laser radar 4 . The laser radar 4 is installed in the middle of the roof; the camera head is located inside the vehicle 1 near the cab glass. The central processing unit 5 is placed inside the vehicle 1 and is manually controlled by the experimenter during the calibration process. The camera 2 and the laser radar 4 are connected with the central processing unit 5 through the communication bus 3 to realize real-time data transmission.

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Abstract

The invention belongs to the technical field of intelligent automobile environmental perception and particularly relates to a calibration device based on laser radar and camera fusion as well as a calibration method thereof. The calibration device comprises a rack, a base plate, a turnplate, a calibration long rod, a calibration short rod, a screw, a gear shaft, a gear bearing, a gear, a bottom plate, a bottom plate steel ball, a limiting spring, a limiting steel ball, a turnplate shaft, a turnplate bearing and a spring locking mechanism. According to the calibration device based on laser radar and camera fusion as well as the calibration method thereof, which are provided by the invention, the calibration device is simple in structure, can be operated manually, can move and rotate in a two-dimensional plane and can calibrate the three-dimensional coordinates of a scanning point. The defect that the single sensor cannot acquire environmental information accurately and integrally is overcome, and a series of difficulties that the position of the scanning points is difficult to determine, the calibration process is tedious and the scanning points are discrete and discontinuous are overcome.

Description

technical field [0001] The invention belongs to the technical field of intelligent automobile environment perception, and specifically relates to a calibration device and a calibration method based on fusion of a laser radar and a camera. Background technique [0002] With the rapid development of the smart car industry, the environmental perception system is playing an increasingly important role in the field of ensuring its automation, intelligence and efficiency. In order to realize the self-environment perception and automatic driving functions of smart cars, building a reliable calibration platform has become an indispensable link. [0003] At present, lidar and camera are widely used as two main ranging sensing elements. Camera The camera can quickly obtain the surrounding road condition information and perform image digital processing, and complete the positioning through the preset algorithm, and the price is low, and the technology development is relatively mature....

Claims

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Application Information

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IPC IPC(8): G06T7/80G01S7/497
CPCG06T7/80G01S7/497Y02A90/10
Inventor 吴坚刘迪叶一凡师江超孙玉泽张浩然
Owner JILIN UNIV
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