Calibration method, device, equipment and medium for vehicle-mounted sensor and vehicle pose relationship

Abstract

The embodiment of the present invention discloses a method, device, device and medium for calibrating the pose relationship between a vehicle-mounted sensor and a vehicle. The sensor acquires the second image of the calibration environment, the field end sensor is installed in the side area of ​​the calibration environment, and different marker units arranged according to the preset pattern are laid on the space plane of the calibration environment; The characteristic corner points and the contact points between the vehicle and the ground determine the first pose transformation relationship between the vehicle coordinate system and the world coordinate system; use the second characteristic corner points identified from the second image to determine the vehicle sensor coordinate system and the world coordinate system The second pose transformation relationship of the coordinate system; using the pose transformation relationship determined above, the pose relationship between the on-board sensor and the vehicle is calibrated. The embodiment of the present invention can realize higher calibration accuracy and reduce calibration cost.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of intelligent driving, and in particular to a method, device, device and medium for calibrating the relationship between vehicle sensors and vehicle poses. Background technique [0002] The relative pose of the on-board camera and the vehicle body represents the rotation and translation transformation relationship between the camera coordinate system and the vehicle body coordinate system. In automatic driving, it is necessary to collect information about the surrounding environment of the vehicle body through the camera, and transmit this information to the vehicle body coordinate system through the pose relationship between the camera and the vehicle body, so as to achieve the purpose of controlling the vehicle for normal automatic driving. Therefore, camera and body pose calibration is very important. [0003] In the existing vehicle calibration methods, in order to ensure the ...

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Problems solved by technology

[0004] In the above scheme, the vehicle centering equipment is erected during the calibration process. Since the equipment is expensive and needs to be sunken to the site, the engineering complexity is high, and workers need to maintain it later, resulting in the cost of using this equipment for calibration. very high

For the calibration of vehicle-mounted multi-cameras, although the calibration methods currently on the market are simple, the achieved calibration accuracy results are limited to scenarios with low calibration accuracy requirements, such as stitching environmental images captured by multiple cameras to assist the driver Observing the surrounding environment during the reversing process is not suitable for scenarios that require high calibration accuracy, such as guiding the vehicle to perform automatic parking or autonomous cruise, etc.

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