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Sensor calibrating method and device

A calibration method and a calibration device technology, applied in the direction of instruments, etc., can solve the problems of difficult calibration parameter accuracy verification, unsuitable for large-scale loading and use, and long cycle, so as to reduce the calibration workload, facilitate rapid integration, reduce The effect of time cost

Active Publication Date: 2019-01-15
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Abstract
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AI Technical Summary

Problems solved by technology

Calibration is cumbersome, low efficiency, long cycle, difficult to verify the accuracy of calibration parameters, and difficult to quantify indicators, so it is not suitable for a large number of vehicles

Method used

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  • Sensor calibrating method and device
  • Sensor calibrating method and device

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Embodiment Construction

[0045] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0046] The sensor system of an autonomous vehicle may include a variety of sensors, such as one 64-line laser radar, three 16-line laser radars, one GPS-IMU integrated navigation module, multiple cameras, and five millimeter-wave radars to form a 360 degree of environmental awareness.

[0047] figure 1 A schematic diagram of a sensor calibration method prov...

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Abstract

The invention provides a sensor calibrating method and a device. The sensor calibrating method comprises the following steps of: obtaining the mounting data of the multiple sensors; acquiring the testdata collected by the multiple sensors mounted in an autonomous vehicle according to the mounting data, and calibrating the multiple sensors according to the test data. The sensor calibrating methodcan solve the problem that the method for acquiring the internal and external parameter information of the above sensor by means of a software calibration is not suitable for a large number of truck to load and use since the calibration is cumbersome, the efficiency is low, the period is long, the calibration of the parameter accuracy is difficult and the index quantification is difficult. According to the sensor calibrating method, the time cost in the sensor calibrating process can be reduced, which facilitates the rapid integration of the sensor on the autonomous vehicle.

Description

【Technical field】 [0001] The present application relates to the field of automatic control, in particular to a sensor calibration method and device. 【Background technique】 [0002] In self-driving vehicles, multiple types of sensors are integrated: GPS-IMU (Inertial Measurement Unit, Inertial Measurement Unit) integrated navigation module, cameras, lidar, millimeter-wave radar and other sensors, these sensors need to be calibrated to finally match the overall state of the vehicle body . The existing method is to obtain the internal and external parameter information of the above-mentioned sensors through software calibration after initial installation. Calibration is cumbersome, inefficient, long cycle, difficult to verify the accuracy of calibration parameters, and difficult to quantify indicators, so it is not suitable for mass loading. 【Content of invention】 [0003] Various aspects of the present application provide a sensor calibration method and device, which are u...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D18/00
CPCG01D18/00
Inventor 吕宝贵谷明琴周小科朱磊申泽庶范宗涛王波雷
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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