The invention relates to an evaluation method of monocular camera and millimeter wave radar external parameter calibration accuracy

A millimeter-wave radar and evaluation method technology, which is applied in computer components, image data processing, instruments, etc., can solve problems such as cameras and millimeter-wave radars that do not exist, and achieve intuitive output results, simple solution process, and good versatility Effect

Active Publication Date: 2019-04-16
ZHEJIANG UNIV
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Problems solved by technology

However, there is no effective evaluation method for the calibration accuracy of cameras and millimeter-wave radar external parameters, and there are no other reports that can be used for reference. Therefore, a general and descriptive evaluation method is needed for evaluating the calibration accuracy of cameras and millimeter-wave radar. Calibration accuracy of external parameters

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  • The invention relates to an evaluation method of monocular camera and millimeter wave radar external parameter calibration accuracy
  • The invention relates to an evaluation method of monocular camera and millimeter wave radar external parameter calibration accuracy
  • The invention relates to an evaluation method of monocular camera and millimeter wave radar external parameter calibration accuracy

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Embodiment Construction

[0044] The present invention will be further described below in conjunction with accompanying drawing.

[0045] According to the pixel coordinate information, the evaluation index calculation in the camera image plane can be completed, including the accuracy rate of sphere matching and the average error rate of sphere matching. The evaluation process includes the following steps:

[0046] Step 1: metal ball and scene layout;

[0047] a. Scene layout: Scatter and arrange several metal balls in the field of view of the camera and radar. 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;

[0048] figure 1 It is a scene layout diagram, in which 101 is a metal ball, and 102 is a monocular camera and a millimeter-wave radar system;

[0049] b. Data collection: After the rada...

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Abstract

The invention discloses a monocular camera and millimeter wave radar external parameter calibration result accuracy evaluation method. A plurality of metal balls are arranged in a scene, after data information of the metal balls in all coordinate systems is converted, statistics and comparison calculation are completed, and four indexes describing the accuracy of an external parameter result are obtained, and two indexes are in a camera image plane and two indexes are in a radar point cloud space.

Description

technical field [0001] The invention relates to an external parameter calibration process in the field of multi-sensor fusion, in particular to an evaluation method for the accuracy of external parameter calibration results of a monocular camera and a millimeter-wave radar. Background technique [0002] Multi-sensor information fusion technology is one of the key issues in the field of robot perception, which determines the efficiency and accuracy of the robot's perception of the surrounding 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. [0003] Millimeter-wave radar has the advantages of high reliability and low cost, and has received extensive attention and applications in the fields of intelligent robots and unmanned driving. In particular, it can achieve cost-effe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/30G06T7/62G06T7/80G06K9/62
CPCG06T7/30G06T7/62G06T7/80G06T2207/10028G06F18/23
Inventor 王滔祝义朋朱世强张雲策胡纪远
Owner ZHEJIANG UNIV
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