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Sensor external parameter calibration method and device, electronic equipment and storage medium

A calibration method and external parameter technology, applied in the field of computer vision, can solve problems such as data time asynchronous, time offset, etc.

Active Publication Date: 2020-08-18
ZHEJIANG SENSETIME TECH DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the process of data collection, due to the collection frequency and storage delay of different sensors, the collected data is often not synchronized in time, and there is a time offset

Method used

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  • Sensor external parameter calibration method and device, electronic equipment and storage medium
  • Sensor external parameter calibration method and device, electronic equipment and storage medium
  • Sensor external parameter calibration method and device, electronic equipment and storage medium

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Embodiment Construction

[0033] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures denote elements that have the same or similar functions. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0034] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0035] The term "and / or" in this article is only an association relationship to describe the associated objects, indicating that there can be three kinds of relationships, for example, A and / or B, it can mean that A exists alone, A and B exist at the same time, and A and B exist independently B these three cases. In additio...

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Abstract

The invention relates to a sensor external parameter calibration method and device, electronic equipment and a storage medium. The method comprises the steps: obtaining image data sampled by a visualsensor, and obtaining inertial data sampled by an inertial sensor; according to the image data, determining a first relative pose of the visual sensor between two sampling moments corresponding to adjacent frame images in the image data; determining a second relative pose of the inertial sensor between two sampling moments corresponding to adjacent frame images according to the inertial data; anddetermining an external parameter between the visual sensor and the inertial sensor according to the first relative pose and the second relative pose. According to the embodiment of the invention, themethod can achieve the quick and accurate calibration of the external parameters between the visual sensor and the inertial sensor.

Description

technical field [0001] The present disclosure relates to the technical field of computer vision, and in particular, to a method and device for calibrating external parameters of a sensor, an electronic device and a storage medium. Background technique [0002] The external parameter calibration technology between visual sensors and inertial sensors is an important part of current multi-sensor fusion, such as visual inertial odometry, simultaneous mapping, and positioning technology. Since the visual sensor and the inertial sensor are two separate sensor devices in space, they have a transformation relationship of rotation and translation in space. In the process of data collection, due to the collection frequency and storage delay of different sensors, the collected data is often not synchronized in time, and there is a time offset. These inconsistencies between the visual sensor and the inertial sensor are the external parameters between the visual sensor and the inertial ...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005G01C25/00
Inventor 慕翔陈丹鹏
Owner ZHEJIANG SENSETIME TECH DEV CO LTD