Multicamera system and laser radar combined system and combined calibration method thereof

Abstract

The invention relates to the technical field of computers and discloses a multicamera system and laser radar combined calibration method. A particularly generated calibration plate is used, as long as two adjacent cameras can simultaneously shoot a part of the calibration plate, the internal reference and the external reference of the multicamera can be solved, when the cameras of the multicamera system meet the requirement that two adjacent cameras can shoot the calibration plate at the same time, the calibration of the multicamera system can be completed, and the calibration of the multicamera system and the laser radar is completed in combination with the calibration of a single camera and the laser radar, thereby omitting the steps that the laser radar and the cameras are used for collecting data and selecting point cloud, simplifying the calibration step, saving the time and process for calibration on the premise of guaranteeing the precision, and solving the problem that the calibration of the multicamera system cannot be completed under the condition that the adjacent cameras do not have a common view field or the common view field is small.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a multi-camera system and a lidar joint system and a joint calibration method thereof. Background technique [0002] Most of the information that humans receive during driving comes from vision, such as traffic signs, road signs, traffic signals, etc. These visual information become the main decision-making basis for human drivers to control vehicles. In autonomous driving, the camera replaces the human visual system as one of the sensors for traffic environment perception. Compared with other sensors, the method of installation and use of the camera is simple, the amount of image information obtained is large, the input cost is low, and the scope of action is wide. However, the camera is easily affected by the light, and the shooting effect is poor in places with poor light or sudden changes in light. Another commonly used sensor in autonomous driving is lidar. Lidar works ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-camera system and lidar joint system and its joint calibration method to solve the problem that the existing multi-camera calibration requires a common field of view. In a multi-camera system, there are few common fields of view or no field of view and the camera cannot be completed. Calibration of internal and external parameters, and simplify the method of joint calibration of multi-camera system and lidar

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