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

A technology combining sensors and lidar, applied in instrumentation, image data processing, computing, etc., can solve problems such as increasing operational complexity

Active Publication Date: 2019-07-16
INST OF COMPUTING TECH CHINESE ACAD OF SCI
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  • Abstract
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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 fi

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

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Embodiment Construction

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the method and system for calibrating the external parameters of the combined camera and laser radar sensor proposed by the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation methods described here are only used to explain the present invention, and are not intended to limit the present invention.

[0029] The invention proposes an external parameter calibration system of a combined sensor of a camera and a laser radar, which includes a combined sensor (system to be calibrated) and a calibration device.

[0030] Among them, the combined sensor includes a camera and a laser radar fixed on the required application equipment, and the calibration device is a hollow chessboard stereo calibration board with a standard size.

[0031] The concrete steps of this method ar...

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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...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 刘世策胡瑜
Owner INST OF COMPUTING TECH CHINESE ACAD OF SCI
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