External parameter calibration method, device and apparatus for laser radar and binocular camera

Abstract

The invention relates to an external parameter calibration method, device and apparatus for a laser radar and a binocular camera. The method comprises the following steps of acquiring point cloud dataof the laser radar and image data of the binocular camera; obtaining a corresponding point cloud picture according to the image data; obtaining initial external parameters of the laser radar and thebinocular camera, performing coordinate conversion on the point cloud data according to the initial external parameters to obtain point cloud data under a camera coordinate system, and obtaining the initial external parameters according to the relative attitude of the laser radar and the binocular camera; and performing registration processing according to the point cloud picture corresponding tothe image data and the point cloud data under the camera coordinate system, and obtaining a conversion matrix between the laser radar and the binocular camera according to a registration processing result. Coordinate conversion is carried out on laser radar point cloud data, registration processing is carried out on the converted point cloud data and a point cloud picture corresponding to a binocular camera, a corresponding conversion matrix is obtained, and therefore external parameter calibration of the laser radar and the binocular camera can be carried out more conveniently and accurately.

Description

technical field [0001] The present application relates to the technical field of intelligent driving, in particular to a method, device and equipment for calibrating external parameters of a laser radar and a binocular camera. Background technique [0002] With the development of intelligent driving technology, the functions of on-board sensors are becoming more and more powerful. Common sensors include lidar and cameras. Among them, lidar is used to obtain three-dimensional position information of objects around the vehicle, and cameras are used to obtain two-dimensional information of objects. Dimension information and color information, etc. By calibrating the external parameters of the lidar and the camera so that the corresponding information can be fused with each other, the intelligent driving vehicle can perceive the surrounding objects more accurately, thereby ensuring the safety of intelligent driving. [0003] The existing technology obtains the transformation ma...

AI Technical Summary

Problems solved by technology

[0003] The existing technology obtains the transformation matrix and external parameters by using the relationship between the multiple feature points fitted by the lidar and the feature points corresponding to the camera. However, this method needs to use the lidar point cloud to fit the feature points first. , there is a certain error in this process. In addition, more feature points are needed in the processing process to obtain more accurate external parameters, which makes the operation process of this method more cumbersome and the accuracy rate is not high.

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