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A method and device for calibrating external parameters of laser radar and camera

A technology of laser radar and calibration method, applied in the field of robotics, can solve the problems of low accuracy and consistency

Active Publication Date: 2020-09-25
浙江欣奕华智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the problem of low accuracy and consistency of the external parameter calibration results of the existing external parameter calibration method, the embodiment of the present invention provides an external parameter calibration method and device for laser radar and camera

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  • A method and device for calibrating external parameters of laser radar and camera
  • A method and device for calibrating external parameters of laser radar and camera
  • A method and device for calibrating external parameters of laser radar and camera

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Embodiment Construction

[0055] In order to solve the problem of low accuracy and consistency of the external parameter calibration results of the existing external parameter calibration method, an embodiment of the present invention provides a laser radar and camera external parameter calibration method and device.

[0056] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention, and in the absence of conflict, the present invention The embodiments and the features in the embodiments can be combined with each other.

[0057] Such as figure 1 As shown, it is a schematic flow chart of the implementation of the external parameter calibration method of the laser radar and the camera provided by the embodiment of the present invention. The method is applied t...

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Abstract

The invention discloses an external parameter calibration method and a device for a laser radar and a camera, which are used for solving the problems of low accuracy and consistency of an external parameter calibration result of an existing external parameter calibration method. The external parameter calibration method for the laser radar and the camera is applied to a robot, the laser radar andthe camera are fixed to the robot, and a preset calibration plate is arranged in the camera shooting range and the laser radar scanning range of the robot. The method comprises the steps as follows: collecting synchronous laser radar data and image data; acquiring a specified angular point and coordinates of the preset calibration plate in each image data, and acquiring a laser point closest to the center of the laser coordinate system in each laser radar data and coordinates of the laser point; determining the corresponding laser point and the corner point in each pair of synchronous laser radar data and image data as a point pair, and selecting a preset number of point pairs according to a preset rule; and determining the external parameters of the laser radar and the camera according tothe coordinates of each point of the selected point pair.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and device for calibrating external parameters of a laser radar and a camera. Background technique [0002] In the field of logistics robots such as AGV (Automated Guided Vehicle, automatic guided vehicle), single-line laser radar is usually used for positioning. Due to the small amount of information of single-line laser radar, semantic navigation and other requirements cannot be completed, and it is usually necessary to use visual sensors for auxiliary positioning. Path planning and navigation, etc. In the process of fusion of image data and lidar data, it is necessary to unify the coordinate system between the two and calibrate the external parameters between the two. [0003] The existing external parameter calibration methods can be divided into two categories: one is to automatically or manually obtain the corner points or contour points in the scene through the images captu...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G01S7/497
CPCG01S7/497G06T7/80
Inventor 王世汉韩松杉胡孟宇刘方圆张弥
Owner 浙江欣奕华智能科技有限公司