Calibration method and device, roadside equipment and computer readable storage medium

A calibration method and computer technology, applied in computing, image data processing, instruments, etc., can solve the problems of poor camera calibration accuracy, achieve high calibration accuracy, and the calibration process is simple and fast

Active Publication Date: 2020-12-01
杭州飞步科技有限公司
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Problems solved by technology

[0004] The present application provides a calibration method, device, roadside equipment and computer-rea

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  • Calibration method and device, roadside equipment and computer readable storage medium
  • Calibration method and device, roadside equipment and computer readable storage medium
  • Calibration method and device, roadside equipment and computer readable storage medium

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Embodiment Construction

[0056] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0057]With the development of autonomous driving technology in recent years, the importance of vehicle-road coordination has gradually become prominent. Roadside equipment is a key part of vehicle-road coordination. The performance burden of the driving system. The roadside equipment mainly uses cameras such as cameras to collect environmental information. Th...

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Abstract

The invention provides a calibration method and device, roadside equipment and a computer readable storage medium, and the method comprises the steps: obtaining a sample image and sample point cloud data; calculating a first conversion matrix of the coordinate system of a to-be-calibrated object relative to the coordinate system of a data acquisition device; obtaining the overlap ratio of the edgepoints projected to the sample image and the edge features of the sample image; and optimizing the first conversion matrix to obtain an optimized first conversion matrix so as to calibrate the to-be-calibrated object. According to the technical scheme, point cloud data are acquired through the data acquisition device, and the alignment characteristic of the edge characteristics of the point clouddata and the sample image is utilized to optimize the first conversion matrix of the coordinate system of the to-be-calibrated object and the coordinate system of the data acquisition device, so thatthe to-be-calibrated object is calibrated, the whole calibration process is simple and rapid, is not influenced by the outdoor environment of a road, and the method is more flexible to use and has higher calibration accuracy.

Description

technical field [0001] The present application relates to the technical field of intelligent transportation, in particular to a calibration method, device, roadside equipment and computer-readable storage medium. Background technique [0002] With the development of autonomous driving technology, self-driving vehicles gradually appear on the road. Vehicles automatically plan driving routes by collecting surrounding environment information during driving. The collection of surrounding environment information mainly relies on cameras such as roadside cameras. The camera is used as a sensor to collect image information to achieve vehicle-road coordination, but the camera mainly collects two-dimensional images, and accurate calibration is required to convert effective three-dimensional image information. [0003] In the prior art, the camera calibration method requires the use of special calibration boards or markers, etc., which cannot be flexibly used on the road, and is easil...

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T2207/10028G06T7/80
Inventor 杨政范锦昌钱炜王甜甜何晓飞
Owner 杭州飞步科技有限公司
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