Sensor calibration method, moving object and storage medium

Abstract

The embodiment of the invention relates to the field of unmanned driving and / or robots. The invention discloses a calibration method of a sensor, the method is applied to a moving object, the moving object is provided with a plurality of sensors; the calibration method of the sensor comprises the following steps: for each movement of the moving object, measurement data generated by each sensor isacquired, the acquired starting moment is the moment when the moving object is in a static state before the movement or the starting moment of the movement, and the acquired ending moment is the moment when the moving object stops the movement for a preset duration; a rotation relational expression of each sensor is determined according to the measurement data of each sensor obtained by each motion; and according to the rotation relation of each sensor, a conversion relation between respective coordinate systems of any two sensors is calibrated. By adopting the embodiment, the accuracy of sensor calibration can be improved.

Description

technical field [0001] Embodiments of the present invention relate to the field of unmanned driving and / or robots, and in particular to a sensor calibration method, a moving object and a storage medium. Background technique [0002] Environmental perception technology is one of the most critical technologies in the field of unmanned driving and robotics, that is, the information of the real environment can be obtained by processing the data obtained from sensors. Multi-line laser radar and inertial measurement unit (IMU) are two commonly used sensors. Multi-line laser radar can measure the appearance characteristics of the real environment, but in the case of inconspicuous appearance characteristics (such as open environment) , long corridors) cannot work well; the IMU can measure its own motion quickly and at high frequency, but the error will accumulate rapidly over time. Both sensors have their own limitations, but they can complement each other very well: use the IMU to...

AI Technical Summary

Problems solved by technology

[0003] The inventors found the following problems in related technologies: the calibration of external parameters of IMU and lidar becomes a difficult problem in the fusion process, and the calibration of external parameters of lidar refers to the conversion relationship between the coordinate system of laser radar and the coordinate system of IMU. The calibration method is very complicated, the cost is high, and the calibration is not accurate

Images