External parameter calibration method, device, storage medium and calibration system of detection system

Abstract

The present disclosure relates to the field of computer technology, and provides an external parameter calibration method, device, storage medium, and calibration system of a detection system. The straight line equation of the line in the imaging plane of the camera; obtain the target coordinate information of the intersection point in the imaging plane according to the coordinate information of the intersection point in the first coordinate system, wherein the first coordinate system is the A coordinate system corresponding to the single-line laser radar; an error equation is determined according to the target coordinate information and the linear equation, and external parameters between the single-line laser radar and the camera are obtained according to the error equation. On the one hand, the present disclosure can avoid adding specific markers on the calibration plate, which improves the marking efficiency; on the other hand, it can avoid adding filters to the camera, preventing uneven filters from changing internal parameters of the camera and making calibration results inaccurate.

Description

Technical field [0001] The present disclosure relates to the field of the computer, and in particular, to an external parameter calibration method of detection system, an outer parameter calibration device of a probe system, a computer readable storage medium, and an outer parameter calibration system of the detection system. Background technique [0002] The laser radar is divided into single-wire laser radar and multi-wire radar. The two most important differences are different laser beams, and single laser radar is used to transmit single-wire laser beams, and multi-line laser radar is used to transmit multi-line laser beams. In recent years, single-line laser radar has been widely used in robotic fields due to small size, reasonable and high precision, and assist other sensors to complete special tasks. [0003] The camera and single laser radar are typically fixed on a processing platform (eg, a mobile robot), and a high-level task such as navigation, three-dimensional recon...

AI Technical Summary

Problems solved by technology

However, in the current related technologies, it is necessary to add specific markers to the calibration plate or add filters to the camera to calibrate the relative positional relationship, which will cause inconvenient production of the calibration plate and inaccurate calibration results caused by changes in the internal parameters of the camera.

Images