Millimeter-wave radar and camera rapid joint calibration method

Abstract

The invention relates to a millimeter-wave radar and camera rapid joint calibration method, and the method comprises the following steps: S1, enabling a camera and a radar group to be installed on a motion platform, and enabling the motion platform to be placed at an open flat place; s2, arranging a corner reflector right in front of the motion platform, adjusting the height of the corner reflector to be the same as the height of the radar set, and adjusting the distance between the corner reflector and the radar set until the corner reflector appears in the image range of the camera; s3, calibrating the internal parameters of the camera by using the pinhole camera model and adjusting the radar angle at the same time; s4, determining an initial projection external parameter of the millimeter wave coordinate system Xr-Yr to the camera coordinate system Xc-Yc; s5, adjusting a yaw angle and a translation distance value in the external parameter by calculating the deviation between the imaging position of the corner reflector in the image plane and the projection position of the radar detection point on the image plane; s6, outputting an internal parameter matrix and an external parameter of the camera, and completing the calibration. The corner reflector is high in reflection intensity and small in size, and better feedback can be obtained.

Description

technical field [0001] The invention relates to the technical field of multi-sensor joint calibration, in particular to a rapid joint calibration method for a millimeter-wave radar and a camera. Background technique [0002] For unmanned motion platforms, whether it is an intelligent driving vehicle on a regular road, an unmanned agricultural machine on an unstructured road, or a mobile robot in an indoor scene, multi-sensor fusion is used to accurately perceive and identify the target and improve its environment. Cognitive abilities are very important. The use of multi-sensor fusion can effectively avoid accidents caused by the failure of a single sensor, and the complementary advantages of multiple sensors can significantly improve the perception accuracy of the perception system. Among different sensor fusion schemes, the camera has become an indispensable part of the perception system of the unmanned motion platform due to its cheap price and the ability to provide rich...

AI Technical Summary

Problems solved by technology

[0008] The present invention is to solve the problem that existing millimeter-wave radar and camera joint calibration methods in the prior art have strong preconditions, and complex operations are often required to meet the required preconditions; some select targets with large and irregular shapes. The reference object leads to the inaccurate horizontal position of the calibration, which causes the problem of the decre

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