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Calibration method, device and system and storage device

A calibration method and relationship technology, applied in the field of computer vision, can solve problems that are prone to errors and affect accuracy

Active Publication Date: 2020-02-07
ZHEJIANG DAHUA TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, in the calibration process of depth sensors and image sensors, it is often necessary to manually determine the characteristic points of the calibration carrier from the sensing signals generated by the depth sensor, which is very prone to errors, thus affecting the accuracy of calibration

Method used

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  • Calibration method, device and system and storage device
  • Calibration method, device and system and storage device
  • Calibration method, device and system and storage device

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Embodiment Construction

[0032] The solutions of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0033] In the following description, for purposes of illustration rather than limitation, specific details, such as specific system architectures, interfaces, and techniques, are set forth in order to provide a thorough understanding of the present application.

[0034] The terms "system" and "network" are often used interchangeably herein. The term "and / or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the character " / " in this article generally indicates that the contextual objects are an "or" relationship. In addition, "many" herein means two or more than two.

[0035] The present application sets ...

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Abstract

The invention discloses a calibration method, device and system and a storage device. The calibration method comprises the steps: respectively acquiring sensing signals detected by the depth sensor for the calibration carrier, and the images obtained through shooting of the calibration carrier by the image sensor, wherein the calibration carrier comprises a first area provided with a calibration object and a second area arranged to enable the induction intensity of the depth sensor to the second area to be larger than that of the first area; analyzing the sensing signals based on the inductionintensity conditions of different areas; determining a first spatial position of a first feature point in the second region, and determining a second spatial position of a second feature point in thecalibration object by using the image; and matching the first feature point with the second feature point according to a preset position relationship between the first feature point and the corresponding second feature point on the calibration carrier to obtain a plurality of sets of feature point pairs, and determining calibration parameters between the depth sensor and the image sensor based onspatial positions of the plurality of sets of feature point pairs. According to the scheme, the calibration accuracy can be improved.

Description

technical field [0001] The present application relates to the technical field of computer vision, in particular to a calibration method, device, system and storage device. Background technique [0002] With the increasing popularity of driverless concepts and technologies, depth sensors and image sensors have become an essential combination in multi-sensor fusion. In a variety of real-world environments, the data provided by the depth sensor and the image sensor are rich and complementary. On this basis, the depth sensor and the image sensor can refine the three-dimensional state of the object in the real world through mutual calibration, for example, When a pedestrian is detected in front, the depth sensor is used to obtain an accurate three-dimensional distance, so that the robot or car can be controlled to avoid. Therefore, the accuracy of calibration has become the top priority of multi-sensor fusion. [0003] At present, in the calibration process of depth sensors and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G01S7/40G01S7/497
CPCG06T7/80G01S7/40G01S7/497
Inventor 毛栎炳任宇鹏张凯卢维
Owner ZHEJIANG DAHUA TECH CO LTD
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