A multi-line lidar and camera joint calibration method based on fine radar scanning edge points

A laser radar and joint calibration technology, which is applied in radio wave measurement systems, image data processing, instruments, etc., can solve problems such as inaccurate edge calibration points

A laser radar and joint calibration technology, which is applied in radio wave measurement systems, image data processing, instruments, etc., can solve problems such as inaccurate edge calibration points

CN109300162AActive Publication Date: 2019-02-01ZHEJIANG UNIV OF TECH
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  • A multi-line lidar and camera joint calibration method based on fine radar scanning edge points
  • A multi-line lidar and camera joint calibration method based on fine radar scanning edge points
  • A multi-line lidar and camera joint calibration method based on fine radar scanning edge points

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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings.

[0044] refer to Figure 1 ~ Figure 4 , a multi-line lidar and camera joint calibration method for refining radar scanning edge points, including the following steps:

[0045] 1) Perform internal reference calibration on the camera to obtain the internal reference matrix of the camera

[0046]

[0047] Where f is the focal length of the camera, [O x , O y ] at the principal optical axis point, such as figure 1 As shown in , design a calibration object with spatial geometric characteristics, on which there are four hollow circles with the same radius r and the same distance l from the center of the circle. Place it where the camera and lidar can get it at the same time, such as figure 2 As shown, the positions of the lidar and the camera are relatively fixed, the distance from the calibration board to the lidar is L, and the distance between the background wall ...

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Abstract

The invention relates to a multi-line lidar and camera joint calibration method based on fine radar scanning edge points, which mainly relates to the technical fields of robot vision, multi-sensor fusion and the like. Because of the influence of the resolution of lidar, the scanned edge points are often not accurate enough, so the calibration results are not accurate enough. According to the characteristic that the range of the lidar point is abrupt at the edge, the invention searches and compares for many times, and takes the point closer to the edge as the standard point. By detecting the circle in the camera image and radar edge points, the translation between the camera and the lidar is calculated according to the pinhole camera model. The calibration parameter C is searched in the neighborhood space of the obtained translation vector to find the calibration result that minimizes the projection error. The invention can extract the points swept by the lidar on the edge of the objectwith high precision, avoids the problem of insufficient precision caused by low resolution of the lidar, and improves the calibration precision.

Description

technical field [0001] The invention relates to the technical fields of robot vision, multi-sensor fusion, etc., in particular to a multi-line laser radar and camera joint calibration method oriented to point cloud edge refinement. Background technique [0002] The fusion of lidar and camera is widely used in 3D reconstruction in robot vision, autonomous navigation and positioning, and drones. A single sensor has limitations, such as cameras are susceptible to light and blurred external environments, and lidar data points are sparse, and the fusion of the two can make up for their respective shortcomings. [0003] In order to fuse the information acquired by lidar and camera, joint calibration between the two is essential. The mutual conversion relationship between the two sensor space coordinate systems is determined through calibration, so that the information obtained by different sensors can be fused into a unified coordinate system. At present, most of the joint calib...

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Application Information

Patent Timeline
01 Feb 2019
Publication
CN109300162A
IPC
G06T7/80; G06T7/136; G06T7/194; G06T7/13; G06T7/66; G06T7/60; G01S7/497
CPC
G01S7/497; G06T7/60; G06T2207/10028; G06T2207/10044; G06T2207/20061; G06T2207/30208; G06T7/13; G06T7/136
Inventors
张剑华; 冯宇婷