A sensor external parameter calibration method and system

A sensor coordinate system and external parameter technology, which is applied in the external parameter calibration method and system field of the sensor, can solve the problems of cumbersome calibration operation and low efficiency, and achieve the effect of high calibration efficiency

Active Publication Date: 2019-05-17
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, this calibration scheme needs to be carried out in a specific calibration site, and special markers need to be arranged, the calibration operation is cumbersome and the efficiency is low

Method used

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  • A sensor external parameter calibration method and system
  • A sensor external parameter calibration method and system
  • A sensor external parameter calibration method and system

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Embodiment 1

[0056] see figure 1 , figure 1 It is a schematic flowchart of a sensor external parameter calibration method disclosed in an embodiment of the present invention. The method can be applied to equipment such as a vehicle-mounted industrial control computer, a vehicle-mounted computer, a personal computer, and a calibration system server. The method for calibrating the external parameters of the sensor disclosed in the embodiment of the present invention is described below by taking the on-board computer as an example, which should not be construed as a limitation to the method. Such as figure 1 As shown, the external parameter calibration method of the sensor may include the following steps:

[0057] 101. The on-board computer acquires the first body pose sequence of the vehicle in the vehicle coordinate system.

[0058] In the embodiment of the present invention, please refer to figure 2 , figure 2 It is an example diagram of a vehicle coordinate system disclosed in the...

Embodiment 2

[0079] see image 3 , image 3 It is another external parameter calibration method of the sensor disclosed in the embodiment of the present invention. exist image 3 In the shown method, the sensor is a binocular vision sensor. Such as image 3 As shown, the external parameter calibration method of the sensor includes:

[0080] 301. The on-board computer acquires the first body pose sequence of the vehicle in the vehicle coordinate system.

[0081] 302. The on-board computer acquires the first image sequence captured by the reference visual sensor and the second image sequence simultaneously captured by the non-reference visual sensor.

[0082] In the embodiment of the present invention, the reference vision sensor is any one of the binocular vision sensors, and the non-reference vision sensor is another vision sensor of the binocular vision sensors. The image frames contained in the first image sequence and the image frames contained in the second image sequence have a ...

Embodiment 3

[0101] see Figure 4 , Figure 4 It is an external parameter calibration system of a sensor disclosed in the embodiment of the present invention. Such as Figure 4 As shown, the external parameter calibration system may include:

[0102] The first pose acquisition unit 401 is configured to acquire a first body pose sequence in the vehicle coordinate system;

[0103] The second pose acquisition unit 402 is configured to acquire the real environment data detected by the sensor of the vehicle, and determine the sensor pose sequence under the sensor coordinate system based on the real environment data;

[0104] In the embodiment of the present invention, the sensor may be a vision sensor or a laser radar. When the sensor is a vision sensor, the real environment data can be an image sequence captured by the vision sensor; when the sensor is a lidar, the real environment data can be point cloud information detected by the lidar. Wherein, the vision sensor may include a monocula...

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Abstract

The invention discloses a sensor external parameter calibration method and system. The method comprises the following steps of converting the first vehicle body pose under the vehicle coordinate system into a sensor coordinate system by using the conversion matrix; continuously iteratively adjusting the value of the conversion matrix until the nonlinear optimization error between a second vehiclebody pose sequence obtained by conversion and a sensor pose sequence is minimum when the first vehicle body pose sequence is converted into the sensor coordinate system through the conversion matrix;when the nonlinear optimization error is minimum, determining the value of the angle offset and/or the position offset in the conversion matrix as the external parameter of the sensor, wherein the sensor is a visual sensor or a laser radar. According to the present invention, the calibration of external parameters of the sensor can be completed under the condition that no extra marker is arranged,and the calibration efficiency is improved. Meanwhile, parameters of six degrees of freedom of the sensor can be automatically calibrated, and parameters of three degrees of freedom of rotation or three degrees of freedom of translation in the sensor can be manually calibrated.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and system for calibrating external parameters of a sensor. Background technique [0002] The multi-sensor fusion solution has basically become one of the most mainstream technical solutions for autonomous driving. When fusing multiple sensor data, it is first necessary to unify the coordinate system of each sensor data. In general, different sensor data can be unified to the vehicle coordinate system with the vehicle as the origin. This requires calibration of the conversion relationship between the sensor coordinate system and the vehicle coordinate system (ie, the external parameters of the sensor). [0003] The current calibration scheme usually needs to arrange fixed markers on the calibration site, and the calibration site is the world coordinate system; then use the sensor to measure the markers (such as using a camera to take pictures of the markers) t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G01S7/497G01S17/87
Inventor 周建刘中元李良肖志光
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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