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A smart car laser sensor and camera online calibration method

A laser sensor and calibration method technology, applied in the field of computer vision and intelligent transportation, can solve the problems of difficult calibration parameters, changes, sensor offset calibration parameters, etc.

Active Publication Date: 2020-10-27
XI AN JIAOTONG UNIV
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  • Description
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Problems solved by technology

However, the traditional offline calibration method is difficult to obtain accurate calibration parameters, and there is also the problem of sensor offset during vehicle movement, which makes the calibration parameters change.

Method used

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  • A smart car laser sensor and camera online calibration method
  • A smart car laser sensor and camera online calibration method
  • A smart car laser sensor and camera online calibration method

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Embodiment Construction

[0034] The present invention is further described below in conjunction with accompanying drawing:

[0035] A smart car laser sensor and camera online calibration method, comprising the following steps:

[0036] Step 1, install the GPS / INS inertial navigation system, industrial camera and 3D lidar on the smart car, and collect pose data, image data and laser data sequentially through the GPS / INS inertial navigation system, industrial camera and 3D lidar ;

[0037] Step 2, the data collected in step 1 is stored by the industrial computer and connected to the Gigabit network switch; manually select the calibration board in the laser data and image data, and then calibrate the camera internal parameters to obtain accurate camera internal parameters; Parameters are calibrated to obtain the initial external parameters of the laser and camera;

[0038] Step 3, the pose data of step 1, use the coordinate transformation to time-align the laser data and image data of the natural scene...

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Abstract

The invention discloses an intelligent vehicle laser sensor and an online camera calibration method. Laser data and image data are accurately calibrated via the steps of camera calibration, offline calibration of a three-dimensional laser sensor and an image sensor, time alignment of laser data and image data, and online alignment of the laser sensor and the image sensor. The calibration system can be applied to multiple different road conditions and scene, to achieve online high precision calibration of laser and an image. After the laser and the image are calibrated, the information of the two sensors can be used for comprehensively analyzing a barrier and making an accurate decision, so that the method has is significant in sensing technology of an intelligent vehicle. Therefore, the technology can be widely applied to the fields of driverless vehicle visual navigation and intelligent vehicle visual assistance driving.

Description

technical field [0001] The invention belongs to the field of computer vision and intelligent transportation, and in particular relates to an online calibration method for a laser sensor and a camera of an intelligent vehicle. Background technique [0002] Intelligent vehicle (Intelligent Vehicle, IV) is a comprehensive system integrating environmental perception, planning and decision-making, multi-level assisted driving and other functions. It uses computer, modern sensing, information fusion, communication, artificial intelligence and automatic control technologies. , is a typical high-tech complex and an important symbol of a country's scientific research strength and industrial level. Environmental perception technology is one of the three key technologies of smart cars. The active sensing laser system, that is, the three-dimensional laser radar is an important sensor, which can perceive the depth information of obstacles and has achieved some successful applications. Ho...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/931G01S17/86G01S7/497G01C21/16
CPCG01C21/165G01S7/497G01S13/867G01S13/931
Inventor 薛建儒李韬房建武钟阳王迪崔迪潇杜少毅
Owner XI AN JIAOTONG UNIV
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