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Roadside perception sensor parameter calibration method, device, equipment and storage medium

A sensor parameter and calibration method technology, which is applied in the field of data processing and can solve the problems of long time, long calculation time and high computational complexity for roadside sensor external parameter calibration.

Active Publication Date: 2021-12-14
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present application provides a sensory sensor parameter calibration method, device, equipment and storage medium, which solves the problem that the calculation of the nearest point matching is difficult due to the existence of a large number of points to be matched in the prior art. The complexity is large, the calculation time is long, and finally the technical problem of the external parameter calibration of the roadside sensor is long

Method used

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  • Roadside perception sensor parameter calibration method, device, equipment and storage medium
  • Roadside perception sensor parameter calibration method, device, equipment and storage medium
  • Roadside perception sensor parameter calibration method, device, equipment and storage medium

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Embodiment 1

[0076] figure 2 is a schematic flow chart of the sensor parameter calibration method provided according to the first embodiment of the present application, as shown in figure 2 As shown, the executor of the embodiment of the present application is the sensor parameter calibration device. The sensor parameter calibration device may be located in an electronic device, the electronic device communicates with the sensor, and the sensor is installed on the roadside. Then, the sensor parameter calibration method provided in this embodiment includes the following steps.

[0077] Step 101 , acquire a current frame image collected by a perception sensor and extract a centerline of a lane line in the current frame image.

[0078] Wherein, the perception sensor may be a camera or a lidar. Such as figure 1 As shown in Fig. 1, the perception sensor can be set on the roadside through a fixed component, and aimed at the road, and collect images according to the collection frequency. Wh...

Embodiment 2

[0097] image 3 is a schematic flow chart of the sensor parameter calibration method provided according to the second embodiment of the present application, as shown in image 3 As shown, the perceptual sensor parameter calibration method provided in this embodiment is based on the perceptual sensor parameter calibration method provided in Embodiment 1 of the present application, and further refines steps 101-102, and 104-105. Then, the sensor parameter calibration method provided in this embodiment includes the following steps.

[0098] Step 201, acquire the current frame image collected by the perception sensor.

[0099] Further, in this embodiment, the perception sensor is a camera, and the camera is set on the roadside. Under the influence of external factors such as bad weather and frequent passing of external vehicles, the installation position of the camera is easy to change, so the external parameters of the camera need to be calibrated.

[0100]Wherein, the externa...

Embodiment 3

[0185] Figure 12 It is a signaling flowchart of the sensory sensor parameter calibration method provided according to the third embodiment of the present application, such as Figure 12 As shown, the perceptual sensor parameter calibration method provided in this embodiment includes the following steps:

[0186] In step 301, the perception sensor collects the current frame image.

[0187] In this embodiment, the sensing sensor collects images according to the collection frequency to obtain the current frame image. The current frame image includes: lane lines, and may also include vehicles driving on the road and obstacles on the road.

[0188] Step 302, the perception sensor sends the current frame image to the electronic device.

[0189] In this embodiment, the perception sensor communicates with the electronic device, and sends the current frame image to the electronic device. Wherein, the communication manner between the perception sensor and the electronic device is n...

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Abstract

The application discloses a sensor parameter calibration method, device, equipment and storage medium, and relates to the field of automatic driving. The specific implementation scheme is: the method is applied to the electronic equipment, the electronic equipment communicates with the sensing sensor, and the sensing sensor is arranged on the roadside. The method includes: acquiring a current frame image collected by a perception sensor and extracting a center line of a lane line in the current frame image; determining at least one first target test point and at least one first target line on the center line of the lane line; acquiring the center of the lane line The high-precision map lane line discrete point corresponding to the line; determine at least one second target test point corresponding to the high-precision map lane line discrete point and at least one corresponding second target straight line; according to each first target test point to each second target The distance of the straight line and the straight line distance from each second target test point to each first target are used to calibrate the external parameters of the perception sensor.

Description

technical field [0001] The present application relates to the field of data processing technology, and in particular to automatic driving technology. Background technique [0002] With the maturity of artificial intelligence technology, autonomous driving technology has also developed rapidly. Roadside perception technology is a very important technology in automatic driving technology. It is a technology that sends perceived obstacle information to vehicles through roadside perception sensors and perception algorithms, thereby helping vehicles realize automatic driving functions. [0003] However, under the influence of external factors such as bad weather and frequent passing of external vehicles, the installation position of the roadside sensor is prone to change. In order to accurately convert the image collected by the roadside sensor from the pixel coordinate system to the world coordinate system, and determine the The vehicle pose in the coordinate system needs to ca...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00G06K9/00
CPCG01C25/00G06V20/588
Inventor 贾金让
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD