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Multi-sensor joint calibration method, device, electronic equipment and storage medium

A joint calibration and multi-sensor technology, applied in the direction of instruments, image analysis, calculation, etc., can solve the problem that the calibration board is difficult to meet the calibration requirements

Active Publication Date: 2021-04-27
天翼交通科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a multi-sensor joint calibration method, device, electronic equipment and storage medium to alleviate the technical problem that the calibration board is difficult to meet the calibration requirements in the existing multi-sensor joint calibration method

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  • Multi-sensor joint calibration method, device, electronic equipment and storage medium
  • Multi-sensor joint calibration method, device, electronic equipment and storage medium

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Embodiment Construction

[0031] 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. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

[0032] Embodiments of the present application provide a multi-sensor joint calibration method, device, electronic equipment, and storage medium to alleviate the technical problem that the calibration board is difficult to meet the calibration requirements in the existing multi-sensor joint calibration method.

[0033] see figure 1 , figure 1 It is a schematic diagram of a scene applicable to the multi-sensor joint calibration method provided by the embodiment of the present app...

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Abstract

The embodiment of the present application provides a multi-sensor joint calibration method, device, electronic equipment and storage medium. In the method, the calibration device is set as two coaxial and non-parallel first calibration plates and second calibration plates, and then through two The connection relationship between the calibration boards, the joint calibration of different types of sensors can separate the observations of different sensors into two boards, and the two boards can use different materials or patterns, etc. The observation error caused by the different requirements of the sensor for the calibration plane, and the two calibration boards can be made smaller, it is easy to ensure that the board surface remains flat for a long time, and the fixed angle of the two separate calibration boards requires lower processing accuracy. , easy to implement at low cost. Therefore, the calibration device in this application is more likely to meet the calibration requirements.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a multi-sensor joint calibration method, device, electronic equipment and storage medium. Background technique [0002] Multi-sensor fusion to perceive the environment is an important technology of current artificial intelligence technology. Vehicles usually use the fusion of cameras and lidar to perceive the driving environment. To use the fusion data of cameras and lidar, it is first necessary to The sensors are jointly calibrated. There are three common calibration methods. The first is to use one surface of the same calibration board to provide observations for the camera and the lidar at the same time. However, due to the different sensing principles of the two types of sensors, the requirements for the board are also different. Using the same board can only Satisfy the sensing requirements of one type of sensor, while the sensing result of the other...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G01D18/00
CPCG01D18/00G06T7/80
Inventor 莫耀凯许全优闵锐王劲
Owner 天翼交通科技有限公司
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