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A monocular camera and millimeter wave radar external parameter combined calibration method based on a spherical calibration object

A millimeter-wave radar and joint calibration technology, applied in image data processing, instrumentation, computing, etc., can solve the problems of high time stamp synchronization requirements, sparse 3D point cloud, and complex calibration process, so as to improve the matching between time and space, The effect of reducing errors and simple scene layout

Active Publication Date: 2019-04-09
ZHEJIANG UNIV
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Problems solved by technology

However, the 3D point cloud generated by the millimeter-wave radar is relatively sparse compared to the lidar, and the above-mentioned joint calibration method of external parameters of the camera and the lidar is not suitable for the camera and the millimeter-wave radar.
The patent (201210563695.5) uses the changes between the two frames of data of each sensor to obtain the conversion matrix with the world coordinate system, and then calibrates the external parameters of the camera and millimeter-wave radar through the world coordinate system. This method requires information collection during the movement of the sensor , has high requirements for time stamp synchronization, and the method of indirect solution through the world coordinate system will also produce error transmission, and there are problems such as complicated calibration process and large calibration error

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  • A monocular camera and millimeter wave radar external parameter combined calibration method based on a spherical calibration object
  • A monocular camera and millimeter wave radar external parameter combined calibration method based on a spherical calibration object
  • A monocular camera and millimeter wave radar external parameter combined calibration method based on a spherical calibration object

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[0026] The specific implementation manners of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0027] like figure 1 and 2 As shown, the joint calibration method of the monocular camera and the millimeter-wave radar external parameters based on the spherical calibration object specifically includes the following steps:

[0028] Step 1: calibration objects and scene layout;

[0029] a. Scene layout: At least 6 metal balls are scattered and arranged as calibration balls to ensure that all calibration balls appear in the field of view of the camera and radar at the same time. The metal balls keep a certain distance from each other, satisfying that the pixel boundaries of each calibration ball can be separated in the image coordinate system, and the point cloud boundaries can be separated in the three-dimensional coordinate system;

[0030] b. Data collection: After the radar and camera are relatively fixed, place i...

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Abstract

The invention discloses a monocular camera and millimeter wave radar external parameter combined calibration method based on a spherical calibration object. the sensitivity of millimeter wave radar tometal detection is utilized; a plurality of metal balls are selected as calibration objects; The method comprises the steps of establishing constraint conditions between unknown quantities by matching description information of the same calibration ball under different coordinate systems, taking an error quadratic sum matched with each calibration ball as an overall optimization target, and solving an optimal solution under a current constraint after iteration to serve as an external parameter of the monocular camera and the millimeter wave radar.

Description

technical field [0001] The invention relates to an extrinsic parameter calibration technology in the field of multi-sensor fusion, in particular to a method for joint extrinsic parameter calibration of a monocular camera and a millimeter-wave radar based on a spherical calibration object. Background technique [0002] Perception technology, as the core issue in the field of intelligent robots, determines the positioning of the robot itself and the mapping of the environment. Due to the limited environmental information obtained by a single sensor, fusing the environmental information of multiple sensors is of great significance for improving the robot's perception ability and enriching the robot's map information. Under the mathematical description, the conversion matrix between the coordinate systems corresponding to different sensors is called the extrinsic parameter matrix. Multi-sensor fusion first needs to solve the problem of solving the extrinsic parameter matrix. Thi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 王滔祝义朋朱世强张雲策胡纪远
Owner ZHEJIANG UNIV
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