Data calibration method and device and data calibration system
A calibration method and data technology, applied in the direction of measuring devices, radio wave measurement systems, instruments, etc., can solve the problems of error transmission, reducing the accuracy of external parameters, and low calibration efficiency
Inactive Publication Date: 2021-02-12
BEIJING SANKUAI ONLINE TECH CO LTD
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[0004] However, in practical applications, it is often only possible to calibrate the extrinsic parameters between two different types of sensors. Low, and there will be error transmission during the calibration process, which reduces the accuracy of the calibrated external parameters
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[0045] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.
[0046] The technical solutions provided by each embodiment of this specification will be described in detail below in conjunction with the accompanying drawings.
[0047] figure 1 It is a schematic flow chart of a data calibration method in this manual, which specifically includes the following steps:
[0048] S101: For each type of sensor provided on the device to be calibrated, acquire ...
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The invention discloses a data calibration method, device and system, wherein the method comprises the steps: obtaining sensing data collected by a sensor of the type according to each type of sensorarranged on to-be-calibrated device, determining the observation pose data of the to-be-calibrated device under the type of sensor according to the sensing data collected by the type of sensor, acquiring calibration pose data corresponding to the to-be-calibrated device, and taking minimization of the deviation between the observation pose data of the to-be-calibrated device under various types ofsensors and the calibration pose data and minimization of the deviation between the observation pose data of the to-be-calibrated device under various types of sensors as optimization targets; and calibrating the initial external parameter data among the various types of sensors so as to calibrate the actual external parameter data among the various types of sensors. Due to the fact that the external parameter data among all types of sensors on the to-be-calibrated device can be calibrated at the same time, the data calibration efficiency is effectively improved.
Description
technical field [0001] This specification relates to the field of unmanned driving, and in particular to a data calibration method, device and data calibration system. Background technique [0002] At present, unmanned driving equipment will be gradually applied to people's daily life, bringing more convenient services to people's life. [0003] Unmanned driving equipment is usually equipped with various types of sensors, and these sensors can obtain some state data of the unmanned driving equipment during driving, so that the unmanned driving equipment can make decisions based on these state data. In order to ensure the safe driving of unmanned equipment, it is necessary to calibrate the external parameter data between these sensors. [0004] However, in practical applications, it is often only possible to calibrate the extrinsic parameters between two different types of sensors. Low, and there will be error transmission in the calibration process, which reduces the accur...
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IPC IPC(8): G01C25/00G01S7/40G01S7/497
CPCG01C25/00G01C25/005G01S7/40G01S7/497
Inventor 智向阳
Owner BEIJING SANKUAI ONLINE TECH CO LTD