Multi-sensor combined calibration device and method

A joint calibration, multi-sensor technology, applied in the field of sensors, can solve the problems of low degree of automation, cumbersome operation, low accuracy and so on

Active Publication Date: 2020-10-02
CHINA JILIANG UNIV
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  • Application Information

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Problems solved by technology

The traditional calibration method is the hand-eye calibration method, but its calibration accuracy is difficult to guarantee; Baidu's Apollo calibration tool controls the vehicle to move around the "8" to realize sensor data collection and external parameter

Method used

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  • Multi-sensor combined calibration device and method

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[0043] Example

[0044] A multi-sensor joint calibration device includes a multi-sensor fusion frame 101, a robotic arm 102, a connecting mechanism 103, a computer unit 104, and a console 105; the multi-sensor fusion frame 101 uses a multi-sensor joint construction method to combine the lidar 201 , Monocular camera 202, inertial navigation system 203 are fixed under a freely movable metal frame 204, which can be mounted on unmanned vehicles, unmanned aerial vehicles and other environmental sensing occasions through fixtures 206, suitable for secondary development and convenient In the implementation of external parameter calibration; the metal frame is 18cm long, 6cm wide, and 8cm high; the multi-sensor joint construction method is adopted, and the sensors are installed according to the same coordinate system; the lidar 201 is installed at the top center of the metal frame 204, A fixing device 205 is arranged inside the metal frame; the monocular camera 202 is installed at a posi...

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Abstract

The invention provides a multi-sensor combined calibration device and method, and relates to a multi-sensor calibration technology. The problem of multi-sensor combined calibration in the prior art issolved. The multi-sensor combined calibration device comprises a mechanical arm, a sensor fusion frame is arranged on the mechanical arm; a laser radar, a monocular camera and a computer for processing data are arranged on the sensor fusion frame, the sensor fusion frame further comprises a laser radar-camera four-calibration-plate combined calibration target, and the laser radar-camera four-calibration-plate combined calibration target comprises a first calibration plate, a second calibration plate, a third calibration plate and a fourth calibration plate; the central positions of the firstcalibration plate, the second calibration plate and the third calibration plate are marked by dots, and the dots are used for providing feature points for external parameter calibration. According tothe embodiment of the invention, the portable multi-sensor fusion framework is built, so that calibration and secondary development are facilitated; according to the embodiment of the invention, a mechanical arm auxiliary calibration method is used, and intelligent calibration and batch calibration can be realized.

Description

technical field [0001] The invention belongs to the technical field of sensors, in particular to a multi-sensor calibration technology. Background technique [0002] Simultaneous Localization and Mapping (SLAM) technology provides environment perception information for unmanned driving. Traditional SLAM technology is divided into laser SLAM and visual SLAM. Lidar has the advantages of high ranging accuracy and no influence of light. , the camera has the advantages of low cost and rich image information; however, single-sensor SLAM has great limitations, for example, the lidar update frequency is slow, there is motion distortion, and it cannot provide accurate measurements in harsh environments such as rain and snow value; the camera cannot obtain accurate 3D information, and is limited by ambient light. [0003] An inertial navigation system acts as a pose estimation aid, providing accurate angular velocity and angular velocity. Therefore, the fusion of multi-sensor data s...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01S7/497G06T7/80
CPCG01C25/00G01C25/005G01S7/497G06T7/80Y02A90/10
Inventor 罗哉江文松朱志远赵洪楠陈艺文黄杰伊
Owner CHINA JILIANG UNIV
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