Multi-sensor calibration method, apparatus, computer device, medium and vehicle
A multi-sensor, calibration method technology, applied in the computer field, can solve the problems of limited calibration accuracy, time-consuming, complicated operation process, etc., and achieve the effect of improving accuracy
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Embodiment 1
[0026] figure 1 It is a flow chart of the multi-sensor calibration method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where multiple sensors are calibrated at the same time. The method can be executed by a multi-sensor calibration device, which can use software and / or Or hardware, and can be integrated on a computer device, which can be configured on a vehicle, such as an unmanned vehicle with control and computing capabilities. Such as figure 1 As shown, the method may include:
[0027] S110. Respectively acquire data collected by at least three sensors within the same period of time during the running of the vehicle.
[0028] Among them, at least three sensors include at least one type of sensor, that is, the number of sensors is greater than or equal to the number of types of sensors. Taking three sensors as an example, three types of sensors can be included, and each type corresponds to one Sensors; it may also inclu...
Embodiment 2
[0042] figure 2It is a flow chart of the multi-sensor calibration method provided by Embodiment 2 of the present invention, and this embodiment is further optimized on the basis of the foregoing embodiments. Such as figure 2 As shown, the method may include:
[0043] S210. Acquire data collected by at least three sensors during the same period of time while the vehicle is running, wherein the at least three sensors include at least one laser radar, at least one positioning device, and at least one camera.
[0044] In this embodiment, the joint calibration of multiple sensors is exemplarily described by taking sensors including at least three types of laser radars, positioning devices, and cameras as examples.
[0045] S220. Determine the trajectory of at least one laser radar in sequence according to the trajectory of the laser radar determined based on the positional relationship between the point clouds collected by the laser radar at different times.
[0046] In the po...
Embodiment 3
[0064] image 3 It is a schematic structural diagram of a multi-sensor calibration device provided in Embodiment 3 of the present invention. This embodiment is applicable to the situation of calibrating multiple sensors at the same time. The device can be implemented in the form of software and / or hardware, and can be configured on a computer device, and the computing device can be configured on a vehicle, such as a vehicle with control and computing capabilities.
[0065] Such as image 3 As shown, the device includes a data acquisition module 310, a trajectory determination module 320 and a calibration module 330, wherein:
[0066] The data acquisition module 310 is used to respectively acquire the data collected by at least three sensors within the same period of time during the driving of the vehicle;
[0067] A trajectory determination module 320, configured to determine respective trajectories based on data collected by at least three sensors;
[0068] The calibration...
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