Calibration method for multi-line laser radar and camera combined calibration
A technology of laser radar and calibration method, which is applied in the field of calibration and calibration of joint calibration, can solve the problems of expansion, narrow application range, random production of calibration board, etc., and achieve the effect of simplifying the matching process
Active Publication Date: 2021-03-16
SHANGHAI JIAO TONG UNIV
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Problems solved by technology
[0002] Some existing joint calibration methods of static lidar and camera use the distance jump of lidar to find edge points and fit the vertices of the calibration board. The camera obtains the corresponding vertex coordinates by identifying the camera mark and prior information. There are edge points There is a large error in the lidar point, and line fitting will amplify this error problem; there is also a priori feature point position information obtained by measuring the relative position by randomly placing the lidar calibration mark around the camera mark, and finding the position information through the laser reflection intensity. Radar feature points, this method has the disadvantage that the calibration board is too random, resulting in a narrow scope of application, and it is difficult to find sufficiently effective lidar marking points, and there is a need to re-make the calibration board to complete the calibration when the placement of the radar and camera changes greatly
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[0030] Such as Figure 4 As shown, this embodiment is a joint calibration of a mainstream 16-line lidar and camera on the market. The distance between the two sensors is relatively large, and the camera is about 50cm below 60cm in front of the lidar.
[0031] Such as figure 1 As shown, it is a calibration plate used for multi-line lidar and camera joint calibration related to this embodiment, including: a calibration plate bracket 9 and a laser marking standard plate 1 set in it from top to bottom and fixed by a strong magnet 11 And the camera marking standard plate 7, wherein: the laser marking standard plate 1 is arranged above the camera marking standard plate 7 in a matrix.
[0032] The laser marking standard plate 1 is provided with guide strips 2 , marking points 3 , right scale auxiliary lines 4 , left scale auxiliary lines 5 and median alignment auxiliary lines 6 .
[0033] The camera mark standard board 7 is provided with an Aruco mark 8 .
[0034] Scale scales 10 ...
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The invention discloses a calibration method for multi-line laser radar and camera combined calibration. Associated matching of a pixel plane and a laser point pair can be achieved at a time through the calibration plate, and the matching process of laser point information and pixel point information is simplified. The universality and usability of the method are improved through standardized radar marking and calibration plate modular splitting and dynamic reconstruction.
Description
technical field [0001] The present invention relates to a technology in the field of sensor joint calibration, in particular to a calibration calibration method for joint calibration of multi-line laser radar and camera Background technique [0002] Some existing joint calibration methods of static lidar and camera use the distance jump of lidar to find edge points and fit the vertices of the calibration board. The camera obtains the corresponding vertex coordinates by identifying the camera mark and prior information. There are edge points There is a large error in the lidar point, and line fitting will amplify this error problem; there is also a priori feature point position information obtained by measuring the relative position by randomly placing the lidar calibration mark around the camera mark, and finding the position information through the laser reflection intensity. Radar feature points, this method has the disadvantage that the calibration board is too random, re...
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Login to View More IPC IPC(8): G01S7/497G06T7/80
CPCG01S7/497G06T7/80
Inventor 裴凌郁文贤刘海春李岚臻李扬吴奇
Owner SHANGHAI JIAO TONG UNIV