A multi-camera system and lidar joint system and its joint calibration method

Abstract

The invention relates to the field of computer technology, and discloses a joint calibration method of a multi-camera system and a laser radar. By using a specially generated calibration board, as long as two adjacent cameras can capture a part of the calibration board at the same time, multiple The internal and external parameters of the camera, when the cameras of the multi-camera system meet the requirements that two adjacent cameras can capture the calibration board at the same time, the calibration of the multi-camera system can be completed, and then the calibration of the single camera and the laser radar can be combined to complete the calibration of the multi-camera system and laser Calibration of radar; saves the steps of collecting data and selecting point clouds for lidar and each camera, simplifies the calibration steps, saves the time and process of calibration under the premise of ensuring accuracy, and solves the problem of multi-camera systems adjacent to each other The problem that the calibration cannot be completed when the camera has no common field of view or the common field of view is very 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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