Laser radar and camera fusion device and calibration method

Abstract

The invention discloses a laser radar and camera fusion device and a calibration method. The laser radar and camera fusion device comprises a vertical lifting platform and a calibration plate bracket,a working table is arranged on a working guide rail on the vertical lifting table; a camera and a laser radar are fixedly mounted on the working table; a calibration plate is fixedly mounted on the calibration plate bracket; the laser radar scans the calibration plate to obtain a horizontal straight line, finds left and right end points of the straight line on the boundary of the calibration plate, then moves for multiple times at the same interval to obtain multiple groups of end points on the left and right side lines, and performs fitting to approximately obtain a linear equation of the left and right boundaries so as to obtain the end points of the calibration plate; pixel points at the positions where the upper end points of the camera pictures are located correspond to the end points, so that a pose relation expression of the camera and the radar can be obtained; by applying the laser radar and camera fusion calibration method, the characteristics under a radar point cloud sparse scene can be obtained, the joint expressions of internal and external parameters can be solved, and the internal parameters of the camera do not need to be measured in advance.

Description

technical field [0001] The invention relates to the technical field of fusion and calibration, in particular to a laser radar and camera fusion device and a calibration method. Background technique [0002] With the rise of computer technology, 3D reconstruction has gradually become a hot topic. Commonly used 3D reconstruction sensors generally use binocular cameras or laser radars to complete object reconstruction. For the binocular camera, although it has color information, the matching between the more complex images will bring computational complexity to the entire system and it can only perform 3D reconstruction of sparse point clouds. For lidar, its results are accurate and reliable, but because it does not acquire color information, it cannot be intuitively felt for the results of 3D reconstruction. [0003] Therefore, a single sensor inevitably has limitations. In order to improve the robustness of the system and fuse color information while ensuring accuracy, multi...

AI Technical Summary

Problems solved by technology

For the binocular camera, although it has color information, due to its complex image matching, it will bring computational complexity to the entire system and can only perform sparse point

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