Calibration method for exterior orientation elements of fisheye camera and single-line laser radar
A technology of single-line laser radar and external azimuth elements, which is applied in image analysis, image enhancement, instruments, etc., can solve the problems of poor calibration effect, unsuitable cameras and laser radar, etc., to improve efficiency, improve signal-to-noise ratio and extraction accuracy , the effect of improving the accuracy
Active Publication Date: 2020-05-12
WUHAN UNIV
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[0008] In view of this, the present invention provides a method for calibrating the outer azimuth elements of a fisheye camera and a single-line laser radar to solve or at least partially solve the unsuitable camera and laser radar equipped with a fisheye lens that cannot exist in the prior art. Calibration, or technical problems with poor calibration effect
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[0056] This embodiment provides a method for calibrating the outer orientation elements of a fisheye camera and a single-line lidar, please refer to figure 1 It is the overall flowchart of the method of the present invention.
[0057] The inventor of the present application has found through a large amount of research and practice:
[0058] Compared with traditional single-lens image acquisition, panoramic photos use real photos to obtain a three-dimensional feeling, which cannot be achieved by general pictures and three-dimensional modeling. Panoramic photography and general pictures can both play the role of display and record, but general pictures have a limited viewing angle range and no stereoscopic effect, while 360° panoramic photography not only has a 360° viewing angle, but also can bring a three-dimensional feeling. Let the observer be immersed in it. With the advancement of technology, a panoramic image acquisition system composed of multiple lenses has emerged, w...
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The invention discloses a method for calibrating exterior orientation elements of a fisheye camera and a single-line laser radar, which is a method for calibrating exterior orientation elements of a camera (i.e., the fisheye camera) carrying a fisheye lens and the single-line laser radar by taking a specially-made infrared camera as an intermediate medium. The method mainly comprises the followingsteps: customizing an infrared camera with a specific waveband, and acquiring a laser image of the waveband; calibrating internal orientation elements of the infrared camera; calibrating orientationelements in the fisheye camera; calibrating exterior orientation elements of the infrared camera and the laser radar; calibrating exterior orientation elements of the infrared camera and the fisheye camera; and solving exterior orientation elements of the fisheye camera and the single-line laser radar. The device used in the method is low in cost and simple and direct in data acquisition, the heterogeneous data are fused together from the bottom hardware level, visual data fitting is not needed, a good calibration effect is achieved, and the method can be used for calibrating the visual sensorof a mobile measurement system and space digital twinning equipment.
Description
technical field [0001] The invention relates to the technical field of multi-sensor fusion, heterogeneous data fusion, digital image and spatial digital twin data processing, and in particular to a method for calibrating the outer orientation elements of a fisheye camera and a single-line laser radar. Background technique [0002] Since the application of lidar in robotics and other fields has accelerated people's cognition, the topic of lidar has been constant. In recent years, with the vigorous development of robotics, autonomous driving, and laser SLAM technology, lidar, as a high-precision, high-efficiency, and reliable sensor, has been increasingly used in high-tech fields. However, although lidar can obtain high-precision geometric information, it cannot record the color and texture information of the scanned object; the imaging equipment (camera, camera, etc.) that can collect the color and texture information of the object cannot obtain the geometric information of t...
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IPC IPC(8): G06T7/80G06T5/00G06T3/00
CPCG06T7/80G06T2207/10048G06T2207/10044G06T3/047G06T5/80
Inventor 柳景斌张书铭刘科科胡志荣安康
Owner WUHAN UNIV