Calibration parameter calculation method, device and storage medium
A technique for calibrating parameters and calculation methods, which is applied in the computer field to achieve the effect of precise calibration parameters and improved accuracy
Active Publication Date: 2022-05-06
TENCENT TECH (SHENZHEN) CO LTD
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[0003] However, the accuracy of current calibration parameter calculation methods
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[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.
[0027] Embodiments of the present invention provide a calibration parameter calculation method, device and storage medium.
[0028] Wherein, the calibration parameter calculation device can be specifically integrated in an electronic device, and the electronic device can be a terminal, and the terminal can be a vehicle-mounted electronic device, a mobile phone, a tablet computer, a smart bluetooth device, a notebook computer, or a personal computer (Personal Computer, PC). ) a...
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The embodiment of the present invention discloses a calibration parameter calculation method, a device and a storage medium; the embodiment of the present invention can obtain the geolocation data of the first sensor and the surrounding environment point cloud model of the second sensor; Point feature screening to obtain feature reference points; select at least one neighboring point adjacent to the feature reference point in the surrounding environment point cloud model to obtain the neighboring point set of the feature reference point; distribute the shape of the neighboring point set of the feature reference point Analyze, determine the distribution shape type of the adjacent point set; based on the distribution shape type of the adjacent point set of the feature reference point, calculate the relative distance between the feature reference point and the adjacent point set of the feature reference point; calculate according to the relative distance and geolocation data Calibration parameters between the first sensor and the second sensor. This solution can be applied in the field of automatic driving to improve the accuracy of the calibration parameter calculation method in the automatic driving scenario.
Description
technical field [0001] The invention relates to the field of computers, in particular to a calibration parameter calculation method, device and storage medium. Background technique [0002] In the image measurement process and machine vision applications, it is often necessary to use multiple sensors for joint measurement and acquisition. However, due to the system settings and placement of the sensors, the coordinate systems of different sensors may be different, and the sensors are different from those in the real scene. The world coordinate system may also be different. In order to make the sensor coordinate system the same as the world coordinate system in the real scene, it is necessary to establish the transformation relationship between the sensor coordinate system and the world coordinate system in the real scene, that is, to calculate the calibration parameters of the sensor. [0003] However, the current calibration parameter calculation method accuracy. Content...
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IPC IPC(8): G06T7/80G01C25/00
CPCG06T7/80G01C25/00
Inventor 刘民选
Owner TENCENT TECH (SHENZHEN) CO LTD