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External parameter calibration method and device and electronic equipment

A calibration method and equipment technology, applied in the field of environmental perception of multi-sensor fusion, can solve problems such as errors in environmental perception fusion results

Active Publication Date: 2020-07-07
浙江菜鸟供应链管理有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At this time, it is necessary to use some means to calibrate the actual rotation and translation relationship, otherwise, it may cause errors in the fusion results of environmental perception

Method used

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  • External parameter calibration method and device and electronic equipment
  • External parameter calibration method and device and electronic equipment
  • External parameter calibration method and device and electronic equipment

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0064] This embodiment one is mainly from aforementioned figure 1 From the perspective of the processing device shown in , an external parameter calibration method is provided. The execution body of the method can be a computer program running in the processing device, or it can also be solidified in the processing device through hardware. processing modules, etc. Specifically, see figure 2 , the method may specifically include:

[0065] S210: Obtain the image data collected by the camera device on the target calibration reference object, and the point cloud data collected by the radar device on the target calibration reference object, wherein the target calibration reference object includes a plurality of preset colors and forms a preset angled plane body;

[0066] The specific purpose of calibration in the embodiment of the present application is to obtain the conversion relationship between the coordinate system of the radar device (for example, lidar) and the coordinat...

Embodiment 2

[0095] The second embodiment provides a calibration reference object, wherein, the calibration reference object includes a plurality of planar bodies with preset colors and forming a preset angle, and the calibration reference object is used for the same environment perception system installed The rotation and translation relationship between the coordinate system of the camera device and the radar device is calibrated.

[0096] In a specific implementation, the target calibration reference object may include a plurality of mutually orthogonal planar bodies.

[0097] In the target calibration reference object, the same plane body has the same color, and different plane bodies have different colors.

[0098] Alternatively, the same planar body has the same color, and two planar bodies with an intersecting relationship have different colors.

[0099] Specifically, see image 3 As shown, the number of said planar bodies can be specifically three, and they are orthogonal to each...

Embodiment 3

[0101] The third embodiment provides an environment perception system from the perspective of specific application scenarios, wherein the specific environment perception system can also have a variety of more specific applications, for example, including road condition information perception, or robot equipment Perception of the surrounding environment, etc. Specifically, see Figure 4 , the system can specifically include:

[0102] A camera device 410, configured to collect image data of the target environment;

[0103] A radar device 420, configured to collect point cloud data of the target environment;

[0104] The data processing device 430 is configured to pre-store the calibration result of the conversion relationship between the camera device coordinate system and the radar device coordinate system, and perform a comparison between the camera device and the data collected by the radar device according to the calibration result. fusion to obtain a perception result of...

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Abstract

The embodiment of the invention discloses an external parameter calibration method and device and electronic equipment. The method comprises: obtaining image data acquired by a camera device for a target calibration reference object and point cloud data acquired by a radar device for the target calibration reference object, wherein the target calibration reference object comprises a plurality of plane bodies having preset colors and forming preset angles; processing according to the point cloud data, and determining a plurality of point cloud data sets with different specific position features; projecting the point cloud data in the set into an image acquired by the camera device; and determining a calibration result according to the overlapping degree between the point cloud data in the set and the projection result in the image acquired by the camera device. According to the embodiment of the invention, a higher-precision external parameter calibration result can be obtained more simply and conveniently.

Description

technical field [0001] The present application relates to the field of environmental perception technology of multi-sensor fusion, in particular to an external parameter calibration method, device and electronic equipment. Background technique [0002] Environmental perception is the core technology in industries such as robotics, autonomous driving, intelligent manufacturing, intelligent monitoring, and intelligent transportation. The sensors commonly used to realize environmental perception include lidar, camera, and millimeter-wave radar, among which lidar and camera are the most commonly used. Various sensors have their own advantages and disadvantages due to their different principles and characteristics. In order to better realize environmental perception, it is usually necessary to fuse data from multiple different sensors. For example, in the autonomous driving industry, it may be necessary to equip the same roadside equipment with lidar and camera equipment at the s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/10028Y02A90/10
Inventor 李方震孙伟健王兵王刚
Owner 浙江菜鸟供应链管理有限公司
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