Calibration device and calibration method for joint calibration of laser radar and camera

Abstract

The invention discloses a calibration device and a calibration method for joint calibration of a laser radar and a camera. The calibration device is composed of a calibration plate, a hollow tetrahedron baffle and a support. The calibration plate is a rectangular plate provided with a cross mark at the geometric center, and the length-width-height ratio is 1: 1:2 A square with the side length ofL is generated with the cross as the center is formed. 9 * 17 black-white square grids are generated through expansion with the square as the symmetric center. Four isosceles right triangles are arranged at specific positions and hollowed out, a specific hollow tetrahedron baffle is arranged behind a cavity, the bottom of the tetrahedron is matched with the cavity, so that the front-view calibration plate is free of the cavity, and L/2 width vacancies are formed in the two sides of the calibration plate and fixed through a specific support. The calibration method comprises the following steps:calculating coordinates of feature points in a laser radar coordinate system and coordinates of camera pixel coordinate systems according to a fitting interpolation method provided by the invention by using a laser radar detection and camera shooting calibration device, obtaining enough feature point pairs, and substituting the feature point pairs into a coordinate conversion formula to obtain arelative position relationship between the two coordinate systems.

Description

technical field [0001] The invention relates to the fields of laser radar data processing, image data processing and multi-sensor data fusion, and in particular to a calibration device and a calibration method for joint calibration of laser radar and camera. Background technique [0002] At present, the joint application of lidar and camera is becoming more and more extensive. The premise of data fusion between the two is joint calibration, that is, to obtain the relationship between the lidar coordinate system and the camera pixel coordinate system. The feature point method is the most commonly used and simple calibration method. The calibration error mainly comes from the determination of the feature point coordinates of the feature point pairs in the lidar coordinate system and the image pixel coordinate system respectively, which is mainly related to the design of the calibration plate and the corresponding calibration method. , so the structural design of the calibratio...

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art, provide a calibration device and its calibration method for the joint calibration of laser radar and camera, and solve the problem that the current calibration device and calibration method are not uniform, have poor adaptability, and the calibration device cannot simultaneously The problem of meeting the calibration requirements of lidar and camera with large errors

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