A calibration method and device
A coordinate value and coordinate system technology, applied in the computer field, can solve the problems of low calibration efficiency, error-prone, low manual recognition efficiency, etc.
Active Publication Date: 2021-04-20
NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD
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Problems solved by technology
[0005] However, manual recognition of the position of the test point in the test information obtained by the lidar, and the position of the test point in the target image is subjective and error-prone. At the same time, the efficiency of manual recognition is low, resulting in low calibration efficiency.
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[0044] At present, the target object can be positioned through the laser radar, and the three-dimensional coordinates of the target object relative to the laser radar can be obtained. However, other information of the target object, such as color and other information, cannot be obtained through the laser radar. Similarly, the target object can be photographed by the camera to obtain a target image including information such as the color of the target object, but the actual position of the target object cannot be obtained by the camera.
[0045]Therefore, in many scenarios, in order to comprehensively obtain the information of the target object, the laser radar and the camera can be used for information acquisition at the same time. Specifically, the position of the target object relative to the laser radar is obtained through the laser radar, and the relative Based on the position of the camera, according to the relative position of the lidar and the camera, the acquired infor...
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The embodiment of the present application discloses a calibration method and device. According to the test results of the laser radar, the first coordinate value of the test point in the radar coordinate system can be obtained. The test point is provided with a diffraction element and a light-emitting element. The laser beam passes through the diffraction element to generate diffracted light. The side of the diffraction element away from the lidar is equipped with a photosensitive element. The photosensitive element generates a current signal when it receives the diffracted light. The target image is captured, and the second coordinate value of the test point in the camera coordinate system can be determined according to the position of the luminous point in the target image. According to the first coordinate value of the test point in the radar coordinate system and the position of the test point in the camera coordinate system The second coordinate value can determine the coordinate transformation parameters of the radar coordinate system and the camera coordinate system, so as to realize the calibration of the lidar and the camera, without manual identification, and improve the efficiency and accuracy of calibration.
Description
technical field [0001] The invention relates to the field of computers, in particular to a calibration method and device. Background technique [0002] At present, the target object can be positioned through the laser radar, and the three-dimensional coordinates of the target object relative to the laser radar can be obtained. However, other information of the target object, such as color and other information, cannot be obtained through the laser radar. Similarly, the target object can be photographed by the camera to obtain a target image including information such as the color of the target object, but the actual position of the target object cannot be obtained by the camera. [0003] Therefore, in many scenarios, in order to comprehensively obtain the information of the target object, the laser radar and the camera can be used for information acquisition at the same time. Specifically, the position of the target object relative to the laser radar is obtained through the ...
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IPC IPC(8): G06T7/80G01S7/497
Inventor 于占海
Owner NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD