Travelling crane positioning coordinate calibration method and device
A technology of positioning coordinates and coordinates, applied in the field of automatic driving, can solve the problems of poor accuracy and low calibration efficiency, and achieve the effect of accurate calibration and simplified calibration process.
Active Publication Date: 2020-05-08
SUZHOU ZHIJIA SCI & TECH CO LTD
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[0006] The embodiment of this application provides a calibration method and device for driving positioning coordinates to solve the technical problems of low calibration efficiency and poor accuracy existing in existing methods , achieve the technical effect of simplifying the calibration process and efficiently and accurately performing calibration by tracking the target points
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[0043] In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described The embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present application.
[0044] Usually, when the vehicle enters the automatic driving mode, or semi-automatic driving mode such as assisted driving, in order to more accurately determine the relative position of the obstacle and the vehicle in the driving environment, so as to accurately generate the corresponding driving strategy and ...
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An embodiment of the invention provides a travelling crane positioning coordinate calibration method and a travelling crane positioning coordinate calibration device. The travelling crane positioningcoordinate calibration method comprises the steps of: fixing a calibration plate in advance, wherein edge regions and an internal region of the calibration plate is respectively provided with light-reflecting objects with different colors; during calibration, controlling a target vehicle to move, and acquiring a plurality of pieces of point cloud data and a plurality pieces of image data for the calibration plate at a plurality of different time points; performing synchronous matching according to the time points corresponding to the point cloud data and the image data, so as to obtain a matching group of the point cloud data and the image data containing the same time points; determining radar coordinates, left lens image coordinates and right lens image coordinates of time points corresponding to the matching group respectively according to the point cloud data and the image data in the matching group, so as to obtain corresponding matching coordinate pairs; and determining calibration transformation parameters of positioning coordinates according to the matching coordinate pairs. Therefore, the travelling crane positioning coordinate calibration method solves the technical problems of low calibration efficiency and poor precision of an existing calibration method.
Description
technical field [0001] The present application relates to the technical field of automatic driving, in particular to a method and device for calibrating driving positioning coordinates. Background technique [0002] When driving a vehicle in automatic driving or assisted driving modes, the vehicle often detects targets in the driving environment through two different positioning methods based on lidar and binocular cameras including left and right lenses at the same time. Corresponding to the detection data about the target object, and then combining the above two methods to obtain the detection data to determine the specific position information of the target object relative to the vehicle, and then according to the above position information, control the vehicle to avoid the target object and drive safely. [0003] Before comprehensively utilizing the detection data obtained by the two methods based on lidar and binocular camera to determine the position information of the...
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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0251G05D1/0257G05D1/0214G05D1/0276
Inventor 龚伟林郭晋文郭立鹏
Owner SUZHOU ZHIJIA SCI & TECH CO LTD