External parameter calibration method and system for camera and laser radar combined sensor

Abstract

The invention relates to an external parameter calibration method for a camera and laser radar combined sensor, which comprises the following steps of: aligning the combined sensor to a calibration device, and performing primary scanning to obtain a first coordinate of the calibration device in a laser radar coordinate system, a second coordinate of the calibration device in an image coordinate system and a third coordinate of the calibration device in a camera coordinate system; obtaining a first transformation matrix from a calibration device coordinate system to the laser radar coordinate system through the first coordinate and the second coordinate; obtaining a second transformation matrix from the camera coordinate system to the calibration device coordinate system through a third coordinate and the second coordinate; and obtaining an external parameter matrix from the camera coordinate system to the laser radar coordinate system through the first transformation matrix and the second transformation matrix. The method is simple and convenient to operate and simple in calculation, calibration equipment is easy to obtain, and the result precision and the optimization of the method are improved.

Description

technical field [0001] The invention relates to the field of camera and laser radar sensor calibration, in particular to a camera and laser radar external parameter calibration system and method. Background technique [0002] A camera is a device that uses the principle of optical imaging to form and record images. Its working principle is to focus the light on the Charge-coupled Device (CCD) or Complementary Metal Oxide Semiconductor (CMOS) through the lens, and then convert the light into an electrical signal through the CCD or CMOS. Sensor processing, recorded on the camera's internal memory, allows the captured images to be processed. [0003] Lidar, that is, a radar system that detects the position, speed and other characteristic quantities of a target by emitting a laser beam. Its working principle is to send a detection signal to the target, that is, a laser beam, and then compare the received signal reflected from the target, that is, the target echo, with the tran...

AI Technical Summary

Problems solved by technology

This calibration method often requires a more accurate initial value of coordinate transformation, and then obtains a more accurate result through fine adjustment, and the process of moving the calibration plate or measuring device for repeated measurements increases the complexity of the operation

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