Laser radar and stereoscopic vision registration method based on 3D feature points

A laser radar and stereo vision technology, applied in the field of image processing, can solve problems such as high hardware cost requirements, and achieve the effect of improved accuracy and simple and easy registration method.

Inactive Publication Date: 2020-01-10
INNOVATION ACAD FOR MICROSATELLITES OF CAS +1
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Problems solved by technology

The second is to calculate the mutual information loss function between the radar point cloud and the camera image, and then use the optimization algorithm to solve the registration parameters, but this method is onl

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  • Laser radar and stereoscopic vision registration method based on 3D feature points
  • Laser radar and stereoscopic vision registration method based on 3D feature points
  • Laser radar and stereoscopic vision registration method based on 3D feature points

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[0027] In the following description, the present invention is described with reference to various examples. One skilled in the art will recognize, however, that the various embodiments may be practiced without one or more of the specific details, or with other alternative and / or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail so as not to obscure aspects of the various embodiments of the invention. Similarly, for purposes of explanation, specific quantities, materials and configurations are set forth in order to provide a thorough understanding of embodiments of the invention. However, the invention may be practiced without these specific details. Furthermore, it should be understood that the various embodiments shown in the drawings are illustrative representations and are not necessarily drawn to scale.

[0028] In this specification, reference to "one embodiment" or "the...

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Abstract

The invention discloses a laser radar and stereoscopic vision registration method based on 3D feature points. The laser radar and stereoscopic vision registration method comprises the steps that binocular camera feature point extraction is carried out, and a disparity map is obtained through a semi-global block matching method, and the depth is calculated through camera internal parameters, and then point cloud is calculated, and object edges are extracted through an edge extraction algorithm, and the edges are fitted to solve object corner points, and 3D feature points under a binocular camera coordinate system are obtained; laser radar feature point extraction is carried out, and radar point cloud is mapped to a left-eye image of a binocular camera, and point cloud corresponding to the edge of an object is selected, and a straight line is fitted to obtain an object corner point, and 3D feature points under a radar coordinate system are obtained; and registration parameters of the laser radar and the binocular camera are solved. The laser radar and stereoscopic vision registration method is simple and easy to implement, can automatically complete multiple measurements, and is improved in precision compared with similar methods.

Description

technical field [0001] The invention relates to the technical field of image processing. Specifically, the present invention relates to a registration method of lidar and stereo vision based on 3D feature points. Background technique [0002] In recent years, the unmanned vehicle industry has developed rapidly. It is expected that by 2021, unmanned vehicles will enter the market and enter a new stage. The unmanned vehicle system is mainly divided into three parts: the algorithm side, the client side, and the cloud. The main task of the algorithm side is to use sensors to obtain raw data and extract useful information from it in order to understand the surrounding environment, and then make judgments based on the specific conditions of the environment. Sensors commonly used in unmanned driving include: global positioning system (GPS), inertial measurement unit (IMU), lidar, camera, etc. The fusion of GPS and IMU is the main data source for the odometer of unmanned vehicles...

Claims

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Application Information

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IPC IPC(8): G06T7/33G06T7/80G06T7/50G06T7/12
CPCG06T2207/10028G06T2207/10044G06T7/12G06T7/33G06T7/50G06T7/80
Inventor 陈少杰郭明支帅
Owner INNOVATION ACAD FOR MICROSATELLITES OF CAS
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