Calibration method, equipment, electronic device and storage medium for external orientation elements
A technology of external orientation elements and calibration methods, applied in the field of automatic driving, can solve the problems of high labor costs and low accuracy, and achieve the effect of reducing labor costs and improving efficiency
Active Publication Date: 2021-12-03
ECARX (HUBEI) TECHCO LTD
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[0005] The embodiment of the present application provides a calibration method, equipment, electronic device, and storage medium for external orientation elements, so as to at least solve the problems of high labor costs and low accuracy in the related art of manual calibration of external orientation elements
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[0057] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ordinary skill in the art relevant to the content disclosed in this application, the technology disclosed in this application Some design, manufacturing or production changes based on the content are just conventional technical means, and...
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The present application relates to a calibration method, equipment, electronic device and storage medium of an outer orientation element, wherein the calibration method of an outer orientation element includes: combining the first linear feature in the first sensor data and the second linear feature in the second sensor data The two linear features are matched to obtain the linear feature pair with the same name, and the initial outer orientation element is adjusted through iterative calculation, so that the first linear feature in each linear feature pair with the same name determined based on the adjusted outer orientation element is The distance of the second linear feature is the smallest, and the adjusted outer orientation element is obtained. Based on the preset condition, it is judged whether the adjusted outer orientation element is the optimal outer orientation element, and if so, the adjusted outer orientation element is output. Through this application, the problems of high labor cost and low efficiency of manual calibration of the outer orientation elements are solved, the efficiency of the calibration process of the outer orientation elements is improved, and the labor cost is reduced.
Description
technical field [0001] The present application relates to the technical field of automatic driving, in particular to a calibration method, device, electronic device and storage medium of an outer orientation element. Background technique [0002] In the field of autonomous driving, autonomous vehicles need to perceive the surrounding environment in real time through the equipped sensors to respond to potential threats in a timely manner. Among them, lidar and cameras are important sensors in the autonomous driving system. The lidar mainly focuses on obtaining accurate distance information of the target, and the camera focuses on perceiving the semantic information of the target. After the automatic driving system fuses the information of the two types of sensors, it can extract more complete environmental information, which provides the overall operation of the automatic driving system. Provide richer and more comprehensive reference information. Before fusing the lidar and...
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IPC IPC(8): G06T7/80G01S7/497
CPCG01S7/4972G06T7/80
Inventor 李正宁杨再甫林宝尉鲁荣荣谭钧耀马可王彦哲
Owner ECARX (HUBEI) TECHCO LTD