Fusion calibration method of three-dimensional laser radar and binocular visible light sensor

A three-dimensional laser, calibration method technology, applied in instruments, image data processing, radio wave measurement systems, etc., can solve problems such as complex calibration process

Inactive Publication Date: 2019-10-18
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

This type of method needs to collect multiple sets of data for iterative calculation of nonlinear optimization, and the calibration process is relatively complicated

Method used

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  • Fusion calibration method of three-dimensional laser radar and binocular visible light sensor
  • Fusion calibration method of three-dimensional laser radar and binocular visible light sensor
  • Fusion calibration method of three-dimensional laser radar and binocular visible light sensor

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Embodiment Construction

[0020] The system flow chart of the present invention is as figure 1 As shown, the specific implementation steps are as follows:

[0021] 1. Build a fusion calibration system, including 3D laser radar, binocular camera and checkerboard calibration board. The calibration board is an opaque acrylic board with a checkerboard pattern. The diagonal lines are vertical and parallel to the ground respectively, and the height of the calibration plate is adjusted so that all four sides intersect with the scanning line of the lidar.

[0022] 2. Stereo calibration of binocular cameras

[0023] First, perform monocular camera calibration on the left and right cameras respectively, use the checkerboard calibration board and Zhang Zhengyou calibration method, change the position and angle of the calibration board, collect multiple sets of data, obtain the internal parameter matrix, distortion coefficient of the left and right cameras, and each set of data The respective rotation matrices R...

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Abstract

The invention discloses a fusion calibration method of a three-dimensional laser radar and a binocular visible light sensor. According to the invention, the laser radar and the binocular visible lightsensor are used to obtain the three-dimensional coordinates of the plane vertex of the square calibration plate, and then registration is carried out to obtain the conversion relation of the two coordinate systems. In the calibration process, an RANSAC algorithm is adopted to carry out plane fitting on the point cloud of the calibration plate, and the point cloud is projected to a fitting plane,so that the influence of measurement errors on vertex coordinate calculation is reduced. For the binocular camera, the vertex of the calibration plate is obtained by adopting an angular point diagonalfitting method; for the laser radar, a distance difference statistical method is adopted to judge boundary points of the point cloud on the calibration board. By utilizing the obtained vertex coordinates of the calibration plate, fusion calibration can be accurately carried out on the three-dimensional laser radar and the binocular visible light sensor, a rotation matrix and a translation vectorof coordinate systems of the three-dimensional laser radar and the binocular visible light sensor are obtained, and a foundation is laid for realizing data fusion of three-dimensional point cloud anda two-dimensional visible light image.

Description

Technical field: [0001] The invention relates to the technical field of environmental perception for automatic driving, in particular to a fusion calibration method of a three-dimensional laser radar and a binocular visible light sensor. Background technique: [0002] The most basic problem in the autonomous driving system is perception. Through various on-board sensors, the modeling of the environment, the positioning of the system itself, and the detection and recognition of targets are realized. [0003] Lidar is a sensor that uses laser light as a light source for distance measurement. It emits laser light to the surroundings, and then determines the distance of the object according to the time interval from emission to reception. Then, based on the distance and the angle of the laser beam, the position of the object is calculated. The laser wavelength of lidar is generally 600nm ~ 1000nm, so the ranging accuracy of lidar is very high. The current vehicle-mounted lidar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/30G01S7/497
CPCG01S7/497G06T2207/10012G06T2207/10028G06T7/30G06T7/85
Inventor 王文光张玄亮杨吉煌
Owner BEIHANG UNIV
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